Circuit inspection ground robot

Abstract

The invention relates to the technical field of inspection robots, and discloses a circuit inspection ground robot which comprises a vehicle body, double-shaft motors symmetrically arranged at the two ends of the bottom of the vehicle body, driving shafts arranged at the output ends of the two sides of the double-shaft motors, wheels arranged on the driving shafts and a camera arranged at the top of the vehicle body. The double-shaft motor works to drive the wheels to rotate so as to drive the robot vehicle body to walk, a camera is arranged to monitor and inspect a circuit, when the vehicle body encounters a muddy road, the vehicle body is driven to move by the camera, and when the vehicle body is driven to move on the muddy road, the vehicle body is driven to move by the camera. The clamping plates on the wheels can be moved out through the pushing assembly, the friction force between the wheels and the ground can be improved through the clamping plates, then the wheels can be prevented from slipping on a muddy road, the moving stability of the vehicle body can be improved, and routing inspection work can be conveniently conducted on a circuit.

Description

Technical Field

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

[0002] With the rapid development of robot technology and the need for unmanned substation inspection, inspection robots are increasingly used in unmanned substations and line inspections. The premise for inspection robots to work for a long time is that they can quickly and accurately stop in the wireless charging area when the battery is low. How to ensure the positioning accuracy of inspection robots during wireless charging has become a hot topic for experts and scholars at home and abroad.

[0003] Inspection robots are increasingly being used in outdoor substations, factories and other places to replace humans in repetitive, observational and even operational work. At present, the above-mentioned work is mainly carried out manually, and people are highly efficient, but long-term repetitive work can easily lead to fatigue, which in turn affects the accuracy and reliability of the work, such as checking and recording instrument parameters. In addition, people cannot work normally in special weather conditions. It has become a trend for inspection robots to replace manual work. They are highly reliable and equipped with special sensors to complete tasks that humans cannot complete, such as infrared temperature measurement and harmful gas detection.

[0004] A patrol robot with publication number CN112078690B includes a body, a driving wheel, a universal wheel and a bracket; the driving wheel and the universal wheel are installed on the body; the bracket is installed on the body; the driving wheel gives power to the patrol robot to move the patrol robot, the universal wheel is used to adjust the moving direction of the patrol robot, and can realize turning operations with a smaller radius. There is no dry friction between the driving wheel and the universal wheel and the ground, which can improve the positioning accuracy and extend the service life of the tire.

[0005] Based on the above technical features, the defects are: when encountering muddy roads, the smaller front wheels have poor traction in wet and muddy environments, which may affect the operating efficiency of the tractor, and the large wheels may have poor suspension stability when driving at high speeds, affecting driving safety.

[0006] Therefore, the above problems are solved by a circuit inspection ground robot. Summary of the invention

[0007] The purpose of the present invention is to provide a circuit inspection ground robot to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solution: comprising a vehicle body, a dual-axis motor symmetrically arranged at both ends of the bottom of the vehicle body, a driving shaft arranged at the output ends on both sides of the dual-axis motor, a wheel arranged on the driving shaft, and a camera arranged on the top of the vehicle body, characterized in that the side walls of the wheels are slidably connected to multiple groups of card plates, the interior of the wheels is provided with a pushing assembly for driving the card plates to move, the top of the vehicle body is provided with a support plate, the top of the support plate is provided with a storage groove, the side walls of the support plate are provided with a storage assembly, and the camera is connected to the storage assembly.

[0009] Preferably, the pushing assembly includes a rotating rod rotatably arranged inside the wheel, a fixing sleeve arranged on the rod wall of the rotating rod located inside the wheel, an inclined plate arranged on the side wall of the fixing sleeve, a partition arranged on the inner wall of the wheel, and a push rod arranged on the side of the clamping plate located inside the wheel, wherein the push rod is slidably connected to the partition, and the bottom of the push rod is also slidably connected to the top of the inclined plate, and a limiting assembly is provided at the end of the rotating rod located outside the wheel.

[0010] Preferably, the limiting assembly comprises a connecting plate fixed to the rod wall of the rotating rod located outside the wheel and a bolt threadedly connected to the connecting plate, and the outer wall of the wheel is provided with a positioning groove matched with the bolt.

[0011] Preferably, the rod wall sleeve of the push rod located between the inner wall of the wheel and the partition is provided with a first spring, and the rod wall sleeve of the rotating rod located outside the wheel is provided with a second spring.

[0012] Preferably, the storage assembly includes a rotating shaft rotatably arranged on both sides of the storage groove and a third spring sleeved on the rod wall outside the storage groove, and the camera is fixedly connected between the end faces of the two sets of rotating shafts located on the inner side of the storage groove, and a blocking assembly is also provided on the support plate.

[0013] Preferably, the blocking assembly includes a fixed frame arranged on the side wall of the support plate and a baffle slidably arranged on the inner side of the fixed frame, the side wall of the support plate is provided with a sliding groove, the inner surface of the baffle is provided with a sliding strip matching the sliding groove, and the inner surface of the baffle is also provided with a card slot matching the camera.

[0014] Preferably, a box is provided on the top of the vehicle body, a motor is provided on the inner bottom wall of the box, a single gear is provided on the output end of the motor, a rotating column is rotatably provided on the inner bottom wall of the box, a full gear meshing with the single gear is provided on the rod wall of the rotating column located inside the box, and the top end of the rotating column located outside the box is connected to the support plate.

[0015] Preferably, the outer cylindrical surface of the driving shaft is provided with a bevel gear, the bevel gear is meshed with a transmission shaft, the transmission shaft is located at the bottom end of the vehicle body, the other end of the transmission shaft is connected to a lifting shaft, and the output end of the lifting shaft is provided with a single gear.

[0016] Preferably, a box is provided on the top of the vehicle body, the lifting shaft passes through the box, the single gear is located inside the box, a rotating column is rotatably provided on the inner bottom wall of the box, and a full gear meshing with the single gear is provided on the rod wall of the rotating column located inside the box.

[0017] Preferably, the top end of the rotating column located outside the box body is connected to the support plate.

[0018] Technical effects and advantages of the present invention:

[0019] 1. The present invention drives the wheels to rotate and the robot body to move through the operation of a dual-axis motor, and the circuit can be monitored and inspected through the set camera. When the body encounters a muddy road, the card plate on the wheel can be removed through the pushing component. The card plate can increase the friction between the wheel and the ground, thereby preventing the wheel from slipping on the muddy road, thereby improving the stability of the body movement and facilitating the inspection of the circuit.

[0020] 2. When the device is not in use, the camera can be stored in the storage slot on the support plate through the storage assembly, so as to protect the camera and prevent the camera from being exposed to the outside for a long time so that the mirror surface is contaminated with a lot of dust and stains and subsequent inspections are required.

[0021] 3. When it is necessary to take photos, the lifting shaft of the present invention descends, driving the single gear to descend, meshing and engaging with the full gear, and driving the full gear to rotate. Each rotation of the single gear will drive the full gear and the rotating column to rotate a certain distance and stop. Therefore, the continuous rotation of the single gear will drive the rotating column and the support plate to rotate intermittently, so that the camera on the support plate stops each time it rotates. The cycle can increase the monitoring range of the equipment, thereby facilitating the inspection of circuits in different directions, avoiding repeated shooting, making the photos taken continuous, and avoiding taking multiple photos in one place. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is one of the structural schematic diagrams of the circuit inspection ground robot provided in this application.

[0023] Figure 2 The second structural schematic diagram of the circuit inspection ground robot provided in this application.

[0024] Figure 3 A front view of the interior of the wheel of the circuit inspection ground robot provided in this application.

[0025] Figure 4 Schematic diagram of the baffle structure of the circuit inspection ground robot provided in this application.

[0026] Figure 5 Circuit inspection ground robot provided for this application Figure 1 Enlarged structural diagram at A in the middle.

[0027] Figure 6 Circuit inspection ground robot provided for this application Figure 1 Enlarged structural diagram at B in the middle.

[0028] Figure 7 Circuit inspection ground robot provided for this application Figure 2 Enlarged structural diagram at point C in the middle.

[0029] Figure 8 Schematic diagram of the transmission shaft structure of the circuit inspection ground robot provided in this application.

[0030] In the figure: 1. body; 2. dual-axis motor; 201. drive shaft; 3. wheel; 301. partition; 302. positioning groove; 4. support plate; 401. storage groove; 402. slide groove; 5. camera; 6. card plate; 601. push rod; 602. first spring; 7. fixing sleeve; 701. inclined plate; 8. rotating rod; 801. second spring; 9. connecting plate; 901. bolt; 10. rotating shaft; 1001. third spring; 11. fixing frame; 12. baffle; 1201. slide bar; 1202. card slot; 13. box; 14. motor; 1401. single gear; 15. rotating column; 1501. full gear; 16. bevel gear; 17. transmission shaft; 18. lifting shaft. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] Embodiment 1

[0033] The invention aims to solve the problems that the existing circuit inspection ground robot is easy to slip when moving on muddy roads and the camera used for inspection work cannot be stored and protected when not in use.

[0034] The present invention provides Figures 1 to 8 A circuit inspection ground robot as shown in FIG. Figure 1 and Figure 2As shown, this embodiment proposes a circuit inspection ground robot, including a body 1, a dual-axis motor 2 symmetrically arranged at both ends of the bottom of the body 1, a driving shaft 201 arranged at the output ends on both sides of the dual-axis motor 2, a wheel 3 arranged on the driving shaft 201, and a camera 5 arranged on the top of the body 1, the side walls of the wheel 3 are slidably connected with multiple groups of card plates 6, the interior of the wheel 3 is provided with a pushing assembly for driving the card plates 6 to move, a support plate 4 is provided on the top of the body 1, a storage groove 401 is provided on the top of the support plate 4, a storage assembly is provided on the side walls of the support plate 4, and the camera 5 is connected to the storage assembly.

[0035] Start the dual-axis motor 2 to drive the wheel 3 to rotate through the drive shaft 201, thereby driving the robot body 1 to walk. At this time, the camera 5 can be used to shoot the circuit for inspection. When the body 1 encounters a muddy road, the push assembly can drive the card plate 6 to move out of the wheel 3. At this time, when the wheel 3 is rolling, the card plate 6 will be stuck in the mud, thereby increasing the friction between the wheel 3 and the ground, preventing the wheel 3 from slipping, thereby improving the stability of the movement of the body 1, and facilitating the inspection of the circuit. When the equipment is not in use, the storage assembly can be used to store the camera 5 in the storage slot 401 on the support plate 4 for protection, avoiding the phenomenon that the camera 5 is placed in the outside world for a long time and its mirror surface is stained with dust, thereby improving the cleanliness of the camera 5, and facilitating the subsequent inspection.

[0036] When encountering a muddy road, the rotating rod 8 is rotated to drive the fixing sleeve 7 to rotate, and the fixing sleeve 7 will drive the inclined plate 701 to rotate, thereby squeezing the top rod 601 to slide to the outside of the wheel 3, and slide inside the partition (301), so as to squeeze the card plate 6 out of the wheel 3. At this time, the rotating bolt 901 is screwed into the positioning groove 302 to fix the rotating rod 8, so as to prevent the rotating rod 8 from reversing and resetting to cause the card plate 6 to retract into the wheel 3. At this time, the friction between the wheel 3 and the ground can be increased through the card plate 6 to prevent the wheel 3 from slipping. Phenomenon, improving the stability of the movement of the vehicle body 1, and after passing a muddy road, it is only necessary to unscrew the bolt 901 to disengage it from the positioning groove 302, and then the first spring 602 will be released from the force to drive the push rod 601 to slide and reset inside the wheel 3, and the second spring 801 will also be released from the force to drive the rotating rod 8 and the fixing sleeve 7 to reverse and reset the inclined plate 701, at this time, the push rod 601 will slide and reset along the inclined plate 701 and drive the card plate 6 to slide and reset inside the wheel 3, so that the card plate 6 can be stored in the wheel 3.

[0037] like Figure 1 , Figure 2 , Figure 4 and Figure 6As shown, as a preferred embodiment, on the basis of the above method, further, the storage assembly includes a rotating shaft 10 rotatably arranged on both sides of the storage groove 401 and a third spring 1001 sleeved on the rod wall outside the storage groove 401 of the rotating shaft 10, and the camera 5 is fixedly connected between the end faces of the two groups of rotating shafts 10 located on the inner side of the storage groove 401, and a blocking assembly is also provided on the support plate 4.

[0038] The blocking assembly includes a fixed frame 11 arranged on the side wall of the support plate 4 and a baffle 12 slidably arranged on the inner side of the fixed frame 11. The side wall of the support plate 4 is provided with a sliding groove 402, and the inner surface of the baffle 12 is provided with a sliding bar 1201 matching the sliding groove 402, and the inner surface of the baffle 12 is also provided with a card slot 1202 matching the camera 5.

[0039] When the device is finished using, the camera 5 can be flipped downward so that the mirror surface of the camera 5 is flipped into the storage groove 401 of the support plate 4, and then the baffle plate 12 is slid upward to seal the storage groove 401. At this time, the third spring 1001 will drive the shaft 10 to reverse and reset. The shaft 10 has a force to drive the camera 5 to reverse and reset. At this time, the camera 5 is subjected to the reverse force and will resist the card groove 1202 on the inner surface of the baffle plate 12. The baffle plate 12 can block and seal the camera 5, and the camera 5 can also squeeze and limit the baffle plate 12, so that the camera 5 can be stored and protected to avoid the phenomenon that the camera 5 is placed in the outside for a long time when not in use, causing the mirror surface to be stained with dust. When the camera 5 needs to be used for inspection again, the camera 5 is slightly flipped to disengage it from the card groove 1202, and then the baffle plate 12 is slid down away from the storage groove 401. At this time, the camera 5 is released, and the force of the third spring 1001 is released, which will automatically drive the camera 5 to reverse and reset through the shaft 10 and move out of the storage groove 401.

[0040] like Figure 2 and Figure 7 As shown, as a preferred embodiment, on the basis of the above method, further, a box body 13 is provided on the top of the vehicle body 1, a motor 14 is provided on the inner bottom wall of the box body 13, a single gear 1401 is provided on the output end of the motor 14, a rotating column 15 is rotatably provided on the inner bottom wall of the box body 13, the rotating column 15 is located on the rod wall inside the box body 13 and is provided with a full gear 1501 meshing with the single gear 1401, and the rotating column 15 is located on the top end outside the box body 13 and is connected to the support plate 4.

[0041] When the circuit is inspected by the camera 5, the motor 14 can also be started to drive the single gear 1401 to rotate. Each time the single gear 1401 rotates one circle, the full gear 1501 and the rotating column 15 will rotate a certain distance and stop. Therefore, if the single gear 1401 rotates continuously, it will drive the rotating column 15 and the support plate 4 to rotate intermittently, so that the camera 5 on the support plate 4 stops each time it rotates. The cycle can increase the monitoring range of the equipment, thereby facilitating the inspection of circuits in different directions.

[0042] Specifically, the working principle of the present invention is:

[0043] Start the dual-axis motor 2 to drive the wheel 3 to rotate through the drive shaft 201, so as to drive the robot body 1 to walk. At this time, the circuit can be photographed and inspected through the camera 5. When the body 1 encounters a muddy road, the rotating rod 8 is rotated to drive the fixing sleeve 7 to rotate, and the fixing sleeve 7 will drive the inclined plate 701 to rotate, so as to squeeze the top rod 601 to slide to the outside of the wheel 3, and squeeze the card plate 6 out of the wheel 3. At this time, the rotating bolt 901 is screwed into the positioning groove 302 to fix the rotating rod 8 to prevent the rotating rod 8 from reversing and resetting to cause the card plate 6 to retract into the wheel 3. At this time, when the wheel 3 is rolling, the card plate 6 will be stuck in the mud, thereby improving the wheel 3 and the ground friction, prevent the wheel 3 from slipping, thereby improving the stability of the movement of the vehicle body 1, and facilitating the inspection of the circuit. After passing the muddy road, it is only necessary to unscrew the bolt 901 to disengage it from the positioning groove 302, and at the same time limit the position of the bolt 901 by the connecting plate 9, and then the first spring 602 is released from the force to drive the push rod 601 to slide and reset inside the wheel 3, and the second spring 801 is also released from the force to drive the rotating rod 8 and the fixing sleeve 7 to reverse and reset the inclined plate 701. At this time, the push rod 601 will slide and reset along the inclined plate 701 and drive the card plate 6 to slide and reset inside the wheel 3, so that the card plate 6 can be stored in the wheel 3.

[0044] And when the circuit is inspected by the camera 5, the motor 14 can also be started to drive the single gear 1401 to rotate. Each time the single gear 1401 rotates one circle, the full gear 1501 and the rotating column 15 will rotate a certain distance and stop. Therefore, the single gear 1401 rotates continuously, which will drive the rotating column 15 and the support plate 4 to rotate intermittently, so that the camera 5 on the support plate 4 stops each time it rotates. The cycle can increase the monitoring range of the equipment, thereby facilitating the inspection of circuits in different directions.

[0045] Finally, when the device is finished using, the camera 5 can be flipped downward so that the mirror surface of the camera 5 is flipped into the storage groove 401 of the support plate 4, and then the baffle plate 12 is slid upward to seal the storage groove 401. At this time, the third spring 1001 will drive the shaft 10 to reverse and reset. The shaft 10 has a force to drive the camera 5 to reverse and reset. At this time, the camera 5 is subjected to the reverse force and will resist the card groove 1202 on the inner surface of the baffle plate 12. The baffle plate 12 can block and seal the camera 5, and the camera 5 can also squeeze and limit the baffle plate 12, so that the camera 5 can be stored and protected to avoid the phenomenon that the camera 5 is placed in the outside for a long time when not in use, causing the mirror surface to be stained with dust. When the camera 5 needs to be used for inspection again, the camera 5 is slightly flipped to disengage it from the card groove 1202, and then the baffle plate 12 is slid down away from the storage groove 401. At this time, the camera 5 is released, and the force of the third spring 1001 is released, which will automatically drive the camera 5 to reverse and reset through the shaft 10 and move out of the storage groove 401.

[0046] Embodiment 2

[0047] In the process of walking, the angle of taking photos is controlled, and the repeated photos taken increase the difficulty of photo screening. Therefore, the second embodiment is proposed to solve the above problem.

[0048] The outer circumferential surface of the driving shaft 201 is provided with a bevel gear 16, and the bevel gear 16 is meshed with a transmission shaft 17. The transmission shaft 17 is located at the bottom end of the vehicle body 1, and the other end of the transmission shaft 17 is connected to a lifting shaft 18. The output end of the lifting shaft 18 is provided with a single gear 1401.

[0049] A box body 13 is provided on the top of the vehicle body 1, the lifting shaft 18 passes through the box body 13, the single gear 1401 is located inside the box body 13, a rotating column 15 is rotatably provided on the inner bottom wall of the box body 13, and the rotating column 15 is located on the rod wall inside the box body 13 and is provided with a full gear 1501 meshing with the single gear 1401.

[0050] The top end of the rotating column 15 located outside the box body 13 is connected to the supporting plate 4 .

[0051] How it works

[0052] When moving forward, the wheel 3 rotates, driving the drive shaft 201 to rotate. At the same time, the bevel gear 16 on the drive shaft 201 rotates, and the bevel gear 16 drives the transmission shaft 17 to run, and the transmission shaft 17 drives the lifting shaft 18 to rotate. When it is necessary to take pictures, the lifting shaft 18 descends, driving the single gear 1401 to descend, meshing and engaging with the full gear 1501, and driving the full gear 1501 to rotate. Each time the single gear 1401 rotates one circle, it will drive the full gear 1501 and the rotating column 15 to rotate a certain distance and stop. Therefore, if the single gear 1401 rotates continuously, it will drive the rotating column 15 and the support plate 4 to rotate intermittently, so that the camera 5 on the support plate 4 stops each time it rotates. The cycle in sequence can increase the monitoring range of the equipment, thereby facilitating the inspection of circuits in different directions, while avoiding repeated shooting, making the photos taken continuous, and avoiding taking multiple photos in one place.

[0053] During the descending process of the lifting shaft 18, the lifting shaft 18 drives the single gear 1401 to rotate. When the single gear 1401 descends to the same axis as the full gear 1501, the single gear 1401 rotates, and after finding the position between the teeth of the full gear 1501, the single gear 1401 is engaged. From then on, the engagement between the single gear 1401 and the full gear 1501 is completed.

[0054] When taking pictures is not needed, the lifting shaft 18 is lifted and disengaged from the full gear 1501, so that the support plate 4 no longer rotates.

[0055] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A circuit inspection ground robot, characterized in that: The invention comprises a vehicle body (1), a double-axis motor (2) symmetrically arranged at two ends of the bottom of the vehicle body (1), a drive shaft (201) arranged at the output ends on both sides of the double-axis motor (2), a wheel (3) arranged on the drive shaft (201), and a camera (5) arranged on the top of the vehicle body (1), characterized in that the side walls of the wheels (3) are slidably connected to multiple groups of card plates (6), the inside of the wheels (3) is provided with a pushing assembly for driving the card plates (6) to move, the top of the vehicle body (1) is provided with a support plate (4), the top of the support plate (4) is provided with a storage groove (401), the side walls of the support plate (4) are provided with a storage assembly, and the camera (5) is connected to the storage assembly.

2. A circuit inspection ground robot according to claim 1, characterized in that: The pushing assembly comprises a rotating rod (8) rotatably arranged inside the wheel (3), a fixing sleeve (7) arranged on a rod wall of the rotating rod (8) located inside the wheel (3), an inclined plate (701) arranged on a side wall of the fixing sleeve (7), a partition plate (301) arranged on an inner wall of the wheel (3), and a push rod (601) arranged on a side of a clamping plate (6) located inside the wheel (3), wherein the push rod (601) is slidably connected to the partition plate (301), and the bottom of the push rod (601) is also slidably connected to the top of the inclined plate (701), and a limiting assembly is provided at one end of the rotating rod (8) located outside the wheel (3).

3. A circuit inspection ground robot according to claim 2, characterized in that: The limiting assembly comprises a connecting plate (9) fixed to the rotating rod (8) and located on the outer rod wall of the wheel (3), and a bolt (901) threadedly connected to the connecting plate (9), and the outer wall of the wheel (3) is provided with a positioning groove (302) matched with the bolt (901).

4. A circuit inspection ground robot according to claim 3, characterized in that: The top rod (601) is located between the inner wall of the wheel (3) and the partition (301) and is sleeved with a first spring (602), and the rotating rod (8) is located outside the wheel (3) and is sleeved with a second spring (801).

5. A circuit inspection ground robot according to claim 1, characterized in that: The storage assembly comprises a rotating shaft (10) rotatably arranged on both sides of the storage groove (401) and a third spring (1001) sleeved on the rod wall of the rotating shaft (10) located on the outer side of the storage groove (401), and the camera (5) is fixedly connected between the end surfaces of the two sets of rotating shafts (10) located on the inner side of the storage groove (401), and a blocking assembly is also provided on the support plate (4).

6. A circuit inspection ground robot according to claim 1, characterized in that: The blocking assembly comprises a fixed frame (11) arranged on the side wall of the support plate (4) and a baffle (12) slidably arranged on the inner side of the fixed frame (11); the side wall of the support plate (4) is provided with a slide groove (402); the inner surface of the baffle (12) is provided with a slide bar (1201) matching with the slide groove (402); and the inner surface of the baffle (12) is also provided with a card slot (1202) matching with the camera (5).

7. A circuit inspection ground robot according to claim 1, characterized in that: A box (13) is provided on the top of the vehicle body (1), a motor (14) is provided on the inner bottom wall of the box (13), a single gear (1401) is provided at the output end of the motor (14), a rotating column (15) is rotatably provided on the inner bottom wall of the box (13), a full gear (1501) meshing with the single gear (1401) is provided on the rod wall of the rotating column (15) located inside the box (13), and the top end of the rotating column (15) located outside the box (13) is connected to the support plate (4).

8. The circuit inspection ground robot according to claim 1, characterized in that: The outer circumferential surface of the driving shaft (201) is provided with a bevel gear (16), the bevel gear (16) is meshedly connected with a transmission shaft (17), the transmission shaft (17) is located at the bottom end of the vehicle body (1), the other end of the transmission shaft (17) is connected to a lifting shaft (18), and the output end of the lifting shaft (18) is provided with a single gear (1401).

9. The circuit inspection ground robot according to claim 3, characterized in that: A box body (13) is provided on the top of the vehicle body (1), the lifting shaft (18) passes through the box body (13), the single gear (1401) is located inside the box body (13), a rotating column (15) is rotatably provided on the inner bottom wall of the box body (13), and a full gear (1501) meshing with the single gear (1401) is provided on the rod wall of the rotating column (15) located inside the box body (13).

10. A circuit inspection ground robot according to claim 9, characterized in that: The top end of the rotating column (15) located outside the box body (13) is connected to the supporting plate (4).

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