Industrial inspection robot

Abstract

The invention discloses an industrial inspection robot, and relates to the technical field of inspection robots, the industrial inspection robot comprises an inspection track, the inspection track comprises a track main body, the track main body comprises a high-altitude inspection section, an inclined section and a landing section, the two sides of the track main body are respectively provided with a side guide groove, and the top of the track main body is provided with a raised line; the robot comprises a base plate, a side shell is fixedly connected to the edge of the top of the base plate, a shell cover is detachably installed on the top of the side shell, a side notch is formed in one side of the side shell, and the side notch is formed in the other side of the side shell. A top notch corresponding to the side notch is formed in one side of the shell cover, and a round hole is formed in the rear side of the shell cover; the industrial inspection robot can inspect factory workshops in the air along the inspection track and can also move freely from the lower portion of the inspection track to the ground, and the inspection track can be conveniently adjusted according to needs.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to an industrial inspection robot. Background Art

[0002] At present, in order to ensure production safety in factory workshops, inspection robots are generally used for patrolling back and forth. Generally, inspection robots are divided into mid-air track-type and free-moving inspection robots on the ground. The track-type inspection robots have a fixed movement trajectory and cannot adjust the inspection trajectory freely according to needs. Although the movement trajectory of the free-moving robots on the ground is easy to adjust, it is easy to interfere with other equipment because it moves on the ground. Therefore, the applicability of mid-air track-type inspection robots and free-moving inspection robots on the ground is general. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide an industrial inspection robot, which can inspect factory workshops in mid-air along an inspection track, and can also move freely on the ground from the inspection track. The inspection trajectory can be easily adjusted according to needs, which can effectively solve the problems in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: an industrial inspection robot, comprising an inspection track, the inspection track comprising a track body, the track body comprising a high-altitude inspection section, an inclined section and a ground section, the high-altitude section and the ground section are both arranged horizontally, side guide grooves are respectively provided on both sides of the track body, and a convex strip is provided on the top of the track body, and further comprising:

[0005] The robot body comprises a seat plate, a side shell is fixedly connected to the top edge of the seat plate, a shell cover is detachably mounted on the top of the side shell, a side notch is provided on one side of the side shell, a top notch corresponding to the side notch is provided on one side of the shell cover, and a round hole is provided on the rear side of the shell cover;

[0006] The wheelbase synchronization control mechanism is installed at the bottom front end of the seat plate, and two folding travel mechanisms are installed at both ends of the wheelbase synchronization control mechanism;

[0007] A traveling power mechanism is installed on the seat plate, and a follow-up visual mechanism is installed on the top of the traveling power mechanism, and the follow-up visual mechanism is arranged corresponding to the circular hole;

[0008] The inspection component extending mechanism is installed on the seat plate, the inspection component extending mechanism is arranged corresponding to the side notch, and the inspection component extending mechanism is connected to the inspection mechanism.

[0009] The high-altitude inspection section on the track body is distributed in the mid-air of the factory workshop. The wheelbase synchronization control mechanism drives the two folding travel mechanisms to approach each other, allowing the folding travel mechanism to roll with the side guide grooves on both sides of the track body, and the travel power mechanism to roll with the convex strips on the track body. The travel power mechanism works to allow the robot body to travel in the mid-air along the high-altitude inspection section on the track body. At this time, the inspection component extension mechanism allows the inspection mechanism to extend from the side notch of the side shell and let the inspection mechanism droop. At this time, the inspection mechanism is located on the lower side of the seat plate. The factory workshop is inspected with the help of the inspection mechanism. The landing section can be set in an open space in the factory workshop. The robot body can fall along the inclined section to the landing section. During the falling process, the inspection component extends the mechanism to lift the inspection mechanism so that the inspection mechanism is located on the upper side of the shell cover, and then the folding travel mechanism contacts the ground. As the travel power mechanism continues to move, the travel power mechanism separates from the convex strip and the track body, and then the travel power mechanism contacts the ground. As the travel power mechanism works, the industrial inspection robot can be controlled to move backward on the ground, and the follow-up vision mechanism can change as the direction of the industrial inspection robot changes when it moves backward, thereby providing the industrial inspection robot with a field of view in the direction of travel, which helps the industrial inspection robot avoid obstacles.

[0010] Furthermore, the wheelbase synchronization control mechanism includes a mounting plate, an arch frame, an opposite synchronous moving assembly and a curved frame, the bottom front end of the seat plate is fixedly connected to the arch frame through the mounting plate, and the ends of the two curved frames approaching each other are connected in the arch frame through the opposite synchronous moving assembly. The mounting plate is used to set the arch frame, and the arch frame is used to install the opposite synchronous moving assembly, which can control the two curved frames to approach or move away from each other.

[0011] Furthermore, the foldable travel mechanism includes a foldable electric telescopic rod, the ends of the two bent frames that are away from each other are respectively fixedly connected to the top ends of the two upright poles, the bottom ends of the two upright poles are respectively movably connected to one end of the two folding rods through longitudinal folding axes, the other ends of the two folding rods are respectively fixedly connected to two wheel frames one, the two wheel frames one are respectively rotatably connected to two guide wheels, the two guide wheels are respectively rollingly connected to two side guide grooves, the sides of the two upright poles that are close to each other are respectively fixedly connected to two movable seats one, the two movable seats one are respectively movably connected to one end of the two folding electric telescopic rods, the sides of the two folding rods that are close to each other are respectively fixedly connected to two movable seats two, the two movable seats two are respectively movably connected to the other ends of the corresponding two folding electric telescopic rods.

[0012] When it is necessary to move on the track body, the folding electric telescopic rod is shortened, and the folding rod is pulled to move relative to the vertical rod through the folding axis, so that the folding rod and the vertical rod are set vertically, and the opposite synchronous moving component drives the two guide wheels through the two bent frames to extend into the two side guide grooves, so that the industrial inspection robot can move stably along the track body. When the industrial inspection robot needs to move freely on the ground, the opposite synchronous moving component first drives the two guide wheels away from each other through the two bent frames, and then the folding electric telescopic rod is extended to make the folding rod in a vertical state, so that the two guide wheels can respectively roll in contact with the ground. At this time, the opposite synchronous moving component drives the two guide wheels closer to each other again, which can reduce the width of the industrial inspection robot, making it suitable for moving in narrow ground passages.

[0013] Furthermore, the travel power mechanism includes an integrated power motor, a swing control component and a steering power component. The rear end of the seat plate is rotatably connected to a vertical steering shaft through a bearing, the top outer peripheral side of the steering shaft is connected to the steering power component, the bottom end of the steering shaft is fixedly connected to the middle of the direction control disc, the bottom center of the direction control disc is fixedly connected to a movable seat three, the movable seat three is movably connected to the top of the rocker arm, the bottom end of the rocker arm is fixedly connected to a wheel frame two, and a power wheel is rotatably connected to the wheel frame two, one end of the power wheel is fixedly connected to the output shaft of the integrated power motor, the integrated power motor is installed on the side of the wheel frame two, the bottom of the power wheel is rollingly connected to the upper side of the track body, the middle outer peripheral side of the power wheel is provided with an anti-slip annular groove cooperating with the convex strip, and the bottom front side of the direction control disc is connected to the front side of the rocker arm through the swing control component.

[0014] The anti-slip annular groove cooperates with the convex strip to allow the power wheel to move stably along the track body, and the integrated power motor drives the power wheel to rotate. The power wheel rolling along the track body can drive the robot body to move along the track body. When the main body of the industrial inspection robot is in the landing section and is ready to go down, the integrated power motor works to separate the power wheel from the front end of the landing section, and then the swing control component controls the swing arm to be in a vertical state. At this time, the power wheel is in rolling contact with the ground, and the integrated power motor drives the power wheel to roll on the ground, so that the robot body can move backward on the ground. It should be noted that in order to better control the direction, when the robot body is moving on the ground, it is necessary to ensure that the traveling power mechanism is facing the direction of travel. At this time, the follow-up vision mechanism on the traveling power mechanism can provide a field of view in the direction of travel. When turning is required, the steering power component controls the direction control disc and the steering shaft to rotate relative to the robot body, thereby changing the direction of the power wheel, which can also change the direction of travel of the robot body.

[0015] Furthermore, the swing control component includes a swing electric telescopic rod and a movable seat five. A movable seat four is arranged on the front side of the bottom of the direction control disc. The movable seat four is movably connected to one end of the swing electric telescopic rod. The front side of the swing rod is fixedly connected to a movable seat five. The movable seat five is movably connected to the other end of the swing electric telescopic rod.

[0016] When the robot body moves on the track body, the swing electric telescopic rod is shortened, the swing arm is tilted, the anti-slip annular groove cooperates with the convex strip and the robot body is kept in a horizontal state; when the robot body needs to move on the ground, the swing electric telescopic rod is extended, the swing arm is in a vertical state, the power wheel contacts the ground and the robot body is kept in a horizontal state.

[0017] Furthermore, it also includes a track stabilizing attachment mechanism, which includes a track clamping power assembly, an attachment wheel, a track power motor and an attachment annular groove. The rear end bottom of the seat plate is fixedly connected to two bottom rods, and a horizontal square guide rod is fixedly connected between the bottoms of the two bottom rods. The two ends of the square guide rod are respectively slidably connected to the rectangular sliding holes on the two bent plates, and a compression spring is sleeved on the middle part of the square guide rod. The bottom ends of the two bent plates are respectively rotatably connected to two vertical attachment wheels, and the outer peripheral sides of the two attachment wheels are respectively provided with two attachment annular grooves, and the two attachment annular grooves are respectively rollingly matched with the top two sides of the track body, and the top of the attachment wheel is fixedly connected to the output shaft of the track power motor, and the track power motor is installed on the corresponding bent plate, and the rear end of the seat plate is installed with a track clamping power assembly. The track clamping power assembly can drive the two bent plates to approach each other along the square guide rod. At this time, the compression spring is compressed, and the two attachment annular grooves on the two attachment wheels cooperate with the top two sides of the track body to prevent the robot body from separating from the track body. The track power motor can drive the corresponding attachment wheels to rotate, which can provide power for the robot body to move on the track body. When it is necessary to leave the track body, the track clamping power assembly breaks away from contact with the two bent plates, and the compression spring allows the two bent plates to move away from each other along the square guide rod. At this time, the two attachment wheels separate from the track body.

[0018] Furthermore, the rail clamping power assembly includes a vertical sliding rod, a top rod, a vertical electric telescopic rod and a control inclined plane. Two sliding rod holes are respectively opened on the left and right sides of the rear end of the seat plate. Two vertical sliding rods are vertically slidably connected in the two sliding rod holes. The tops of the two vertical sliding rods are respectively fixedly connected to the two ends of the top rod. A vertical electric telescopic rod is installed on the upper side of the rear end of the seat plate. The top of the vertical electric telescopic rod is connected to the middle part of the top rod. Two control inclined planes are respectively arranged on the sides of the bottom ends of the two vertical sliding rods that are close to each other, and the two control inclined planes are respectively in friction contact with the sides of the tops of the two bent plates that are away from each other.

[0019] The shortening of the vertical electric telescopic rod can drive the top rod and the vertical sliding rod to descend, and the two vertical sliding rods can squeeze the two bent plates closer to each other along the square guide rod through two control inclined surfaces. The extension of the vertical electric telescopic rod can cause the top rod and the vertical sliding rod to rise, so that the two vertical sliding rods can be separated from the two bent plates.

[0020] Furthermore, the follow-up visual mechanism includes a follow-up camera, the top of the steering shaft is fixedly connected to the vertical edge rod, the top of the edge rod is vertically slidably sleeved with a vertical cylinder, the bottom outer peripheral side of the vertical cylinder is rotatably sleeved with a follow-up ring, the follow-up ring is connected to the top rod through the follow-up rod, the top of the vertical cylinder is equipped with a follow-up camera, and the top of the follow-up camera is equipped with a round cover corresponding to the round hole. When the robot body is on the track body, it does not need to provide a field of view in the direction of travel because it moves along the track body according to a predetermined trajectory. At this time, the vertical electric telescopic rod is in a shortened state. At this time, the vertical cylinder moves down with the top of the vertical electric telescopic rod. At this time, the round cover closes the round hole to keep the top of the robot body flush. When the robot body moves on the ground, the vertical electric telescopic rod extends to allow the two attachment wheels to detach from the track body. The vertical electric telescopic rod continues to extend, and the vertical cylinder is driven to move upward relative to the edge rod through the follow-up rod and the follow-up ring, so that the follow-up camera can be extended from the round hole. At this time, the follow-up camera faces backward, and the robot body also moves backward on the ground. The follow-up camera provides a field of view in the direction of travel, which is conducive to avoiding obstacles. When the steering power assembly controls the direction control disc and the steering shaft to turn, the steering shaft also drives the follow-up camera to turn through the edge rod and the vertical cylinder, so that the follow-up camera always faces the direction to be traveled.

[0021] Furthermore, the inspection component extension mechanism includes a 180-degree flip assembly and an extension plate, the seat plate is equipped with a 180-degree flip assembly, the 180-degree flip assembly is connected to one end of the extension plate, the extension plate is set corresponding to the side notch, and the other end of the extension plate is connected to the inspection component. When the robot body is on the track body, since the robot body is in mid-air, the 180-degree flip assembly allows the extension plate to be set downward, so that the inspection component is located at the lower side of the robot body, and the inspection component is used to inspect abnormal conditions in the factory workshop in mid-air. When the robot body is on the ground, the 180-degree flip assembly drives the extension plate to flip 180 degrees, so that the extension plate is set in the direction, so that the inspection component is located at the upper side of the robot body, thereby completing the inspection of the surrounding environment on the ground.

[0022] Furthermore, the inspection component includes a flip plate, a torsion long plate, a flip power assembly and a torsion power assembly. One end of the extended plate away from the one hundred and eighty degree flip assembly is connected to one end of the flip plate through the flip power assembly, and the other end of the flip plate is connected to the torsion long plate through the torsion power assembly. Inspection infrared probes and inspection cameras are respectively installed on the sides of the torsion long plate. The flipping power assembly can drive the flip plate to move relative to the extended plate, changing the angle between the extended plate and the flip plate. The torsion power assembly is used to drive the torsion long plate to rotate relative to the end of the flip plate, thereby changing the orientation of the patrol infrared probe and the patrol camera, making the patrol direction of the patrol infrared probe and the patrol camera more free. The patrol infrared probe is used to quickly detect fires, and the patrol camera is used to provide video functions. When the patrol infrared probe and the patrol camera are not needed, the extended plate is placed in the side gap with the help of a 180-degree flipping assembly to close the side gap, and the flip plate and the torsion long plate are used to close the top gap. At this time, the patrol infrared probe and the patrol camera are both inside the side shell, which can make the top of the shell cover tidier and protect the patrol infrared probe and the patrol camera inside the side shell.

[0023] Compared with the existing technology, the beneficial effects of this industrial inspection robot are:

[0024] 1. The high-altitude inspection section on the track body is distributed in the mid-air of the factory workshop. The wheelbase synchronization control mechanism drives the two folding travel mechanisms to approach each other, so that the folding travel mechanism and the side guide grooves on both sides of the track body roll together, and the travel power mechanism and the convex strips on the track body roll together. The travel power mechanism works to make the robot body move in the mid-air along the high-altitude inspection section on the track body. At this time, the inspection component extension mechanism allows the inspection mechanism to extend from the side notch of the side shell and let the inspection mechanism droop. At this time, the inspection mechanism is located on the lower side of the seat plate, and the factory workshop is inspected with the help of the inspection mechanism;

[0025] 2. The robot body can fall along the inclined section to the landing section. During the falling process, the inspection component extends the mechanism to lift the inspection mechanism so that the inspection mechanism is located on the upper side of the shell cover, and then the foldable travel mechanism contacts the ground. As the travel power mechanism continues to move, the travel power mechanism is separated from the convex strip and the track body, and then the travel power mechanism contacts the ground. As the travel power mechanism works, the industrial inspection robot can be controlled to move backward on the ground. The follow-up visual mechanism can change with the change of direction of the industrial inspection robot when it moves backward, thereby providing the industrial inspection robot with a field of view in the direction of travel, which is beneficial for the industrial inspection robot to avoid obstacles;

[0026] 3. You can inspect the factory workshop in mid-air along the inspection track, or you can move freely on the ground from the inspection track. The inspection track can be easily adjusted according to needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of the industrial inspection robot of the present invention;

[0028] Figure 2 This is a schematic diagram of the partial structure of the industrial inspection robot of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the wheelbase synchronization control mechanism and the folding travel mechanism of the industrial inspection robot of the present invention;

[0030] Figure 4 This is a partial upward structural schematic diagram of the industrial inspection robot of the present invention;

[0031] Figure 5 The industrial inspection robot of the present invention Figure 4 A schematic diagram of the partially enlarged structure at center A;

[0032] Figure 6 This is a schematic diagram of the internal structure of the industrial inspection robot of the present invention;

[0033] Figure 7 The industrial inspection robot of the present invention Figure 6 A schematic diagram of the partially enlarged structure at B in the middle;

[0034] Figure 8 It is a schematic diagram of the inspection component extension mechanism and the inspection component structure of the industrial inspection robot of the present invention;

[0035] Fig. 9 The industrial inspection robot of the present invention Figure 8 A schematic diagram of the partially enlarged structure at C in the middle;

[0036] In the figure: 1 inspection track, 11 track body, 12 side guide groove, 13 convex strip, 2 robot body, 21 seat plate, 22 side shell, 23 shell cover, 24 shell cover bolt, 25 side notch, 26 top notch, 27 panoramic camera, 28 battery, 29 controller, 3 wheel track synchronization control mechanism, 31 mounting plate, 32 arch frame, 33 bidirectional lead screw, 34 guide rod, 35 lead screw nut, 36 bending frame, 37 control motor, 4 folding travel mechanism, 41 upright pole, 42 folding shaft, 43 folding rod, 44 wheel frame 1, 45 guide wheel, 46 movable seat 1, 47 folding electric telescopic rod, 48 movable seat 2, 5 track stable attachment mechanism, 51 vertical slide rod, 52 top rod, 53 vertical electric telescopic rod, 54 control inclined plane, 55 bottom rod, 56 square guide rod, 57 compression spring, 58 bending plate, 59 attachment wheel, 510 track power motor, 511 attachment annular groove, 6 travel power mechanism, 61 direction control disc, 62 movable seat 3, 63 swing rod, 64 wheel frame 2, 6 5 power wheel, 66 anti-slip annular groove, 67 integrated power motor, 68 movable seat four, 69 swing electric telescopic rod, 610 movable seat five, 611 bearing, 612 steering shaft, 613 driven gear, 614 steering motor, 615 driving gear, 7 follow-up visual mechanism, 71 prism, 72 vertical cylinder, 73 follow-up camera, 74 round cover, 75 follow-up ring, 76 follow-up rod, 8 inspection component extension mechanism, 81 fixed seat, 82 control short rod, 83 rotating shaft one, 84 rotating shaft two , 85 rotating shaft three, 86 L-shaped bending rod, 87 rotating shaft four, 88 bending rod one, 89 movable seat, 810 rotating shaft five, 811 rotating shaft six, 812 rotating shaft seven, 813 bending rod two, 814 extending plate, 815 extending motor, 9 inspection component, 91 protrusion one, 92 rotating shaft, 93 protrusion two, 94 rotating motor, 95 flip plate, 96 semicircular fixed plate, 97 torsion motor, 98 semicircular torsion plate, 99 torsion long plate, 910 inspection infrared probe, 911 inspection camera. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] For example, see Figures 1 to 9, this embodiment provides a technical solution: an industrial inspection robot, including an inspection track 1, the inspection track 1 includes a track body 11, a side guide groove 12 and a convex strip 13, the track body 11 includes a high-altitude inspection section, an inclined section and a ground section, the high-altitude section and the ground section are both arranged horizontally, the side guide grooves 12 are respectively opened on both sides of the track body 11, and the top of the track body 11 is provided with a convex strip 13, and also includes a robot body 2, a wheelbase synchronization control mechanism 3, a travel power mechanism 6 and an inspection component extension mechanism 8;

[0039] The robot body 2 includes a seat plate 21, a side shell 22, a shell cover 23, a side notch 25 and a top notch 26. The top edge of the seat plate 21 is fixedly connected to the side shell 22, and the shell cover 23 is detachably mounted on the top of the side shell 22. A side notch 25 is provided on one side of the side shell 22, and a top notch 26 corresponding to the side notch 25 is provided on one side of the shell cover 23, and a round hole is provided on the rear side of the shell cover 23.

[0040] The robot body 2 includes a shell cover bolt 24 , and the four corners of the shell cover 23 are connected to the four top corners of the side shell 22 through the shell cover bolts 24 .

[0041] The robot body 2 includes a panoramic camera 27, a battery 28, and a controller 29. Two panoramic cameras 27 are respectively installed at the front and rear ends of the side shell 22, which can observe the conditions of the front and rear sides of the side shell 22. Batteries 28 and controllers 29 are respectively installed in the side shell 22. The controller 29 is used to control various electrical devices, and the battery 28 supplies power to various electrical devices. After the robot body 2 lands along the inspection track 1, it is also convenient to charge the battery 28.

[0042] The wheelbase synchronization control mechanism 3 is installed at the bottom front end of the seat plate 21, and two folding travel mechanisms 4 are installed at both ends of the wheelbase synchronization control mechanism 3;

[0043] The wheelbase synchronization control mechanism 3 includes a mounting plate 31, an arch frame 32, a synchronously moving assembly and a bent frame 36. The front end of the bottom of the seat plate 21 is fixedly connected to the arch frame 32 via two mounting plates 31. The ends of the two bent frames 36 close to each other are connected inside the arch frame 32 via the synchronously moving assembly.

[0044] The opposite synchronous movement component includes a bidirectional screw 33, a guide rod 34, a screw nut 35, and a control motor 37. The two ends of the bidirectional screw 33 are rotatably connected in the arch frame 32. The threads at the two ends of the bidirectional screw 33 are in opposite directions. The arch frame 32 is also fixedly connected with a transverse guide rod 34. The guide holes on the two curved frames 36 are slidably connected to the guide rod 34, and two screw nuts 35 are fixedly connected to the two curved frames 36 respectively. The two screw nuts 35 are respectively matched and connected with the two ends of the bidirectional screw 33. One end of the bidirectional screw 33 is fixedly connected to the output shaft of the control motor 37. The control motor 37 is installed on the arch frame 32. When the control motor 37 works, it drives the bidirectional screw 33 to rotate clockwise. The threaded action of the bidirectional screw 33 and the two screw nuts 35 drives the two curved frames 36 to approach each other along the guide rod 34. When the control motor 37 works, it drives the bidirectional screw 33 to rotate counterclockwise. The threaded action of the bidirectional screw 33 and the two screw nuts 35 drives the two curved frames 36 to move away from each other along the guide rod 34.

[0045] The mounting plate 31 is used to set up the arch frame 32, and the arch frame 32 is used to install the opposite synchronous moving component, which can control the two curved frames 36 to move closer to each other or away from each other.

[0046] The folding travel mechanism 4 includes a vertical rod 41, a folding shaft 42, a folding rod 43, a wheel frame 1 44, a guide wheel 45, a movable seat 1 46, a folding electric telescopic rod 47 and a movable seat 2 48. The ends of the two bent frames 36 that are away from each other are fixedly connected to the top ends of the two vertical rods 41 respectively, and the bottom ends of the two vertical rods 41 are movably connected to one end of the two folding rods 43 through the longitudinal folding shaft 42 respectively. The other ends of the two folding rods 43 are fixedly connected to two wheel frames 1 44 respectively, and two guide wheels 45 are rotatably connected in the two wheel frames 1 44 respectively. The two guide wheels 45 are rollingly connected to the two side guide grooves 12 respectively, and the sides of the two vertical rods 41 that are close to each other are fixedly connected to two movable seats 1 46 respectively, and the two movable seats 1 46 are movably connected to one end of the two folding electric telescopic rods 47 respectively through the movable shaft 1, and the sides of the two folding rods 43 that are close to each other are fixedly connected to two movable seats 2 48 respectively, and the two movable seats 2 48 are movably connected to the other ends of the corresponding two folding electric telescopic rods 47 through the movable shaft 2.

[0047] When it is necessary to move on the track body 11, the folding electric telescopic rod 47 is shortened, and the folding rod 43 is pulled to move relative to the vertical rod 41 through the folding axis 42, so that the folding rod 43 and the vertical rod 41 are set vertically, and the opposite synchronous moving component drives the two guide wheels 45 through the two bent frames 36 to extend into the two side guide grooves 12, so that the industrial inspection robot can move stably along the track body 11. When the industrial inspection robot needs to move freely on the ground, the opposite synchronous moving component first drives the two guide wheels 45 away from each other through the two bent frames 36, and then the folding electric telescopic rod 47 is extended to make the folding rod 43 in a vertical state, so that the two guide wheels 45 can respectively roll in contact with the ground. At this time, the opposite synchronous moving component drives the two guide wheels 45 to move closer to each other again, so that the width of the industrial inspection robot can be reduced, which is suitable for moving in narrower ground passages.

[0048] The traveling power mechanism 6 is installed on the seat plate 21, and a follow-up visual mechanism 7 is installed on the top of the traveling power mechanism 6, and the follow-up visual mechanism 7 is arranged corresponding to the circular hole;

[0049] The travel power mechanism 6 includes a direction control disc 61, a movable seat three 62, a rocker rod 63, a wheel frame two 64, a power wheel 65, an anti-slip annular groove 66, an integrated power motor 67, a swing control component, a bearing 611, a steering shaft 612 and a steering power component. The rear end of the seat plate 21 is rotatably connected to a vertical steering shaft 612 through the bearing 611, the top outer peripheral side of the steering shaft 612 is connected to the steering power component, the bottom end of the steering shaft 612 is fixedly connected to the middle of the direction control disc 61, and the bottom center of the direction control disc 61 is fixedly connected to the movable seat three 62. The movable seat three 62 is movably connected to the top of the rocker arm 63 through the movable shaft three, the bottom end of the rocker arm 63 is fixedly connected to the wheel frame two 64, the wheel frame two 64 is rotatably connected with the power wheel 65, one end of the power wheel 65 is fixedly connected to the output shaft of the integrated power motor 67, the integrated power motor 67 is installed on the side of the wheel frame two 64, the bottom of the power wheel 65 is rollingly connected to the upper side of the track body 11, the middle outer peripheral side of the power wheel 65 is provided with an anti-slip annular groove 66 that cooperates with the convex strip 13, and the bottom front side of the direction control disc 61 is connected to the front side of the rocker arm 63 through a swing control component.

[0050] The anti-slip annular groove 66 cooperates with the convex strip 13 to allow the power wheel 65 to move stably along the track body 11, and the integrated power motor 67 works to drive the power wheel 65 to rotate. The power wheel 65 rolls along the track body 11 to drive the robot body 2 to move along the track body 11. When the main body of the industrial inspection robot is located in the landing section and is ready to go to the ground, the integrated power motor 67 works to separate the power wheel 65 from the front end of the landing section, and then the swing control component controls the swing rod 63 to be in a vertical state. At this time, the power wheel 65 is in rolling contact with the ground, and the integrated power motor 67 works to drive the power wheel 65 to roll on the ground, so that the robot body 2 can move backward on the ground. It should be noted that in order to better control the direction, when the robot body 2 moves on the ground, it is necessary to ensure that the travel power mechanism 6 is facing the direction of travel. At this time, the follow-up visual mechanism 7 on the travel power mechanism 6 can provide a field of view in the direction of travel. When steering is required, the steering power component controls the direction control disc 61 and the steering shaft 612 to rotate relative to the robot body 2, thereby changing the direction of the power wheel 65, and thus changing the direction of the robot body 2.

[0051] The steering power assembly includes a driven gear 613, a steering motor 614, and a driving gear 615. The driven gear 613 is fixedly sleeved on the top outer peripheral side of the steering shaft 612. The steering motor 614 is installed on the seat plate 21. The output shaft of the steering motor 614 is fixedly connected to the driving gear 615. The driving gear 615 is meshed with the driven gear 613. When the steering motor 614 works, the driving gear 615 and the driven gear 613 can drive the steering shaft 612 to rotate relative to the seat plate 21, so that the direction of travel can be controlled when on the ground.

[0052] The swing control assembly includes a movable seat four 68, a swing electric telescopic rod 69 and a movable seat five 610. The movable seat four 68 is arranged on the front side of the bottom of the direction control disc 61. The movable seat four 68 is movably connected to one end of the swing electric telescopic rod 69 through a movable shaft four. The front side of the swing rod 63 is fixedly connected to the movable seat five 610. The movable seat five 610 is movably connected to the other end of the swing electric telescopic rod 69 through a movable shaft five.

[0053] When the robot body 2 moves on the track body 11, the swing electric telescopic rod 69 is shortened to allow the rocker arm 63 to be tilted, so that the anti-slip annular groove 66 cooperates with the convex strip 13 while keeping the robot body 2 in a horizontal state. When the robot body 2 needs to move on the ground, the swing electric telescopic rod 69 is extended to allow the rocker arm 63 to be in a vertical state, so that the power wheel 65 contacts the ground while keeping the robot body 2 in a horizontal state.

[0054] The inspection component extending mechanism 8 is installed on the seat plate 21 , the inspection component extending mechanism 8 is arranged corresponding to the side notch 25 , and the inspection component extending mechanism 8 is connected to the inspection mechanism 9 .

[0055] The inspection component extension mechanism 8 includes a 180-degree flip assembly and an extension plate 814. The 180-degree flip assembly is installed on the seat plate 21. The 180-degree flip assembly is connected to one end of the extension plate 814. The extension plate 814 is arranged corresponding to the side notch 25, and the other end of the extension plate 814 is connected to the inspection component 9.

[0056] The 180-degree flip assembly includes a fixed seat 81, a control short rod 82, a rotating shaft 1 83, a rotating shaft 2 84, a rotating shaft 3 85, an L-shaped bent rod 86, a rotating shaft 4 87, a bent rod 1 88, a movable seat 89, a rotating shaft 5 810, a rotating shaft 6 811, a rotating shaft 7 812, a bent rod 2 813, and an extending motor 815. The fixed seat 81 is fixedly connected to the position corresponding to the side notch 25 on the seat plate 21, and the end of the fixed seat 81 away from the side notch 25 is rotatably connected to the rotating shaft 1 83. The end of the rotating shaft 1 83 is fixedly connected to the extending motor 815. The extending motor 815 The motor base is installed on the seat plate 21, the middle part of the rotating shaft 1 83 is fixedly connected to one end of the control short rod 82, the other end of the control short rod 82 is movably connected to one end of the L-shaped bent rod 86 through the rotating shaft 2 84, the end of the fixed seat 81 close to the side notch 25 is movably connected to one end of the bent rod 1 88 through the rotating shaft 3 85, the bending part of the bent rod 1 88 is movably connected to the middle part of the L-shaped bent rod 86 through the rotating shaft 4 87, the other end of the L-shaped bent rod 86 is movably connected to one end of the movable seat 89 through the rotating shaft 5 810, and the other end of the movable seat 89 is movably connected to One end of the second curved rod 813 and the other end of the second curved rod 813 are movably connected to the other end of the first curved rod 88 through the seventh rotating shaft 812, wherein the end of the first curved rod 88 close to the third rotating shaft 85 is parallel to the control short rod 82, the fourth rotating shaft 87, the second rotating shaft 84, the first rotating shaft 83 and the third rotating shaft 85 are always at the four corners of the parallelogram, and the movable seat 89 is fixedly connected to the end side of the extension plate 814. If the extension motor 815 works to drive the first rotating shaft 83 to rotate counterclockwise, the control short rod 82 can swing to the left, which can be achieved by the L-shaped curved rod 86 and the first curved rod 88 distributed in a scissor-like manner. 88 and the second bent rod 813 drive the left end of the movable seat 89 to swing downward until the movable seat 89 and the extending plate 814 are set vertically downward. If the extending motor 815 works to drive the rotating shaft 1 83 to rotate clockwise, the short rod 82 is controlled to swing to the right, which can drive the left end of the movable seat 89 to swing upward until the movable seat 89 and the extending plate 814 are set vertically upward. At this time, the extending plate 814 is in the side notch 25, blocking the side notch 25, so that the 180-degree flip assembly can control the extending plate 814 to move within a 180-degree range of motion.

[0057] When the robot body 2 is on the track body 11, since the robot body 2 is in mid-air, the 180-degree flipping assembly allows the extended plate 814 to be set downward, and the inspection component 9 is located on the lower side of the robot body 2. With the help of the inspection component 9, abnormal conditions in the factory workshop are inspected in mid-air. When the robot body 2 is on the ground, the 180-degree flipping assembly drives the extended plate 814 to flip 180 degrees, so that the extended plate 814 is set upward, and the inspection component 9 is located on the upper side of the robot body 2, thereby completing the inspection of the surrounding environment on the ground.

[0058] The inspection component 9 includes a flip plate 95, a torsion long plate 99, a flip power assembly and a torsion power assembly. One end of the extending plate 814 away from the 180-degree flip assembly is connected to one end of the flip plate 95 through the flip power assembly, and the other end of the flip plate 95 is connected to the torsion long plate 99 through the torsion power assembly. Inspection infrared probes 910 and inspection cameras 911 are respectively installed on the sides of the torsion long plate 99.

[0059] The flipping power assembly includes a protrusion 91, a rotating shaft 92, a protrusion 93, and a rotating motor 94. The end of the extended plate 814 away from the 180-degree flipping assembly is fixedly connected to the protrusion 91, and the protrusion 91 is rotatably connected to the rotating shaft 92. One end of the rotating shaft 92 is fixedly connected to the output shaft of the rotating motor 94. The rotating motor 94 is installed on the protrusion 91, and the other end of the rotating shaft 92 is fixedly connected to the protrusion 93. The protrusion 93 is fixedly connected to the end of the flipping plate 95. The rotating motor 94 drives the rotating motor 94 to rotate relative to the protrusion 91, thereby driving the protrusion 93 to drive the flipping plate 95 to move relative to the extended plate 814.

[0060] The torsion power assembly includes a semicircular fixed plate 96, a torsion motor 97, and a semicircular torsion plate 98. The side surface of one end of the flip plate 95 away from the protrusion 2 93 is fixedly connected to the semicircular fixed plate 96, and the torsion motor 97 is installed on the semicircular fixed plate 96. The output shaft of the torsion motor 97 is fixedly connected to the semicircular torsion plate 98, and the semicircular torsion plate 98 is fixedly connected to the end side surface of the torsion long plate 99. The torsion motor 97 can drive the torsion long plate 99 and the semicircular torsion plate 98 to rotate relative to the flip plate 95.

[0061] The flipping power assembly can drive the flip plate 95 to move relative to the extending plate 814, changing the angle between the extending plate 814 and the flip plate 95. The torsion power assembly is used to drive the torsion long plate 99 to rotate relative to the end of the flip plate 95, thereby changing the orientation of the patrol infrared probe 910 and the patrol camera 911, making the patrol direction of the patrol infrared probe 910 and the patrol camera 911 freer. The patrol infrared probe 910 is used to quickly detect fire, and the patrol camera 911 is used to provide a camera function. When the patrol infrared probe 910 and the patrol camera 911 are not needed, the one hundred and eighty degree flipping assembly is used to make the extending plate 814 in the side notch 25, and the side notch 25 is closed. At the same time, the flip plate 95 and the torsion long plate 99 close the top notch 26. At this time, the patrol infrared probe 910 and the patrol camera 911 are both inside the side shell 22, which can make the top of the shell cover 23 more tidy, and at the same time protect the patrol infrared probe 910 and the patrol camera 911 inside the side shell 22.

[0062] When in use, the high-altitude inspection section on the track body 11 is distributed in the mid-air of the factory workshop, and the wheelbase synchronization control mechanism 3 drives the two folding travel mechanisms 4 to approach each other, so that the folding travel mechanism 4 rolls with the side guide grooves 12 on both sides of the track body 11, and the travel power mechanism 6 rolls with the convex strips 13 on the track body 11. The travel power mechanism 6 works to allow the robot body 2 to travel in the mid-air along the high-altitude inspection section on the track body 11. At this time, the inspection component extension mechanism 8 allows the inspection mechanism 9 to extend from the side notch 25 of the side shell 22, and allows the inspection mechanism 9 to droop. At this time, the inspection mechanism 9 is located on the lower side of the seat plate 21. The factory workshop is inspected with the help of the inspection mechanism 9, and the landing section can be set on the factory floor. In the open space of the factory workshop, the robot body 2 can fall along the inclined section to the landing section. During the falling process, the inspection component extends the mechanism 8 to lift the inspection mechanism 9, so that the inspection mechanism 9 is located on the upper side of the shell cover 23, and then the folding travel mechanism 4 contacts the ground. As the travel power mechanism 6 continues to move, the travel power mechanism 6 disengages from the convex strip 13 and the track body 11, and then the travel power mechanism 6 contacts the ground. As the travel power mechanism 6 works, the industrial inspection robot can be controlled to move backward on the ground, and the follow-up vision mechanism 7 can change as the direction of the industrial inspection robot changes when it moves backward, thereby providing the industrial inspection robot with a field of view in the direction of travel, which helps the industrial inspection robot avoid obstacles.

[0063] For example 2, please refer to Figures 1 to 9 This embodiment provides a technical solution: an industrial inspection robot. The structure of this embodiment is roughly the same as that of the first embodiment, except that:

[0064] The utility model also includes a track stabilizing attachment mechanism 5, which includes a track clamping power assembly, a bottom rod 55, a square guide rod 56, a compression spring 57, a bent plate 58, an attachment wheel 59, a track power motor 510 and an attachment annular groove 511. Two bottom rods 55 are fixedly connected to the bottom of the rear end of the seat plate 21, and a horizontal square guide rod 56 is fixedly connected between the bottoms of the two bottom rods 55. The two ends of the square guide rod 56 are respectively slidably connected to the rectangular sliding holes on the two bent plates 58, and the middle part of the square guide rod 56 is sleeved with a compression spring 57. The bottom ends of the two bent plates 58 are respectively rotatably connected to two vertical attachment wheels 59. The outer peripheral sides of the two attachment wheels 59 are respectively provided with two attachment annular grooves 511. The two attachment annular grooves 511 are respectively rollingly matched with the top two sides of the track body 11. The top of the attachment wheel 59 is fixedly connected to the output shaft of the track power motor 510. The track power motor 510 is installed on the corresponding bent plate 58. The rear end of the seat plate 21 is installed with a track clamping power assembly.

[0065] The track clamping power assembly can drive the two bent plates 58 to approach each other along the square guide rod 56. At this time, the compression spring 57 is compressed, and the two attachment annular grooves 511 on the two attachment wheels 59 cooperate with the top two sides of the track body 11 to prevent the robot body 2 from being separated from the track body 11. The track power motor 510 can drive the corresponding attachment wheels 59 to rotate, which can provide power for the robot body 2 to move on the track body 11. When it is necessary to leave the track body 11, the track clamping power assembly disengages from the contact with the two bent plates 58, and the compression spring 57 allows the two bent plates 58 to move away from each other along the square guide rod 56. At this time, the two attachment wheels 59 are separated from the track body 11.

[0066] The track clamping power assembly includes a vertical sliding rod 51, a top rod 52, a vertical electric telescopic rod 53 and a control inclined plane 54. Two sliding rod holes are respectively provided on the left and right sides of the rear end of the seat plate 21. Two vertical sliding rods 51 are respectively connected to the two sliding rod holes for vertical sliding. The tops of the two vertical sliding rods 51 are respectively fixed to the two ends of the top rod 52 by screws. A vertical electric telescopic rod 53 is installed on the upper side of the rear end of the seat plate 21. The top of the vertical electric telescopic rod 53 is connected to the middle part of the top rod 52. Two control inclined planes 54 are respectively provided on the sides where the bottom ends of the two vertical sliding rods 51 are close to each other. The two control inclined planes 54 are respectively in friction contact with the sides where the tops of the two bent plates 58 are away from each other.

[0067] The shortening of the vertical electric telescopic rod 53 can drive the top rod 52 and the vertical sliding rod 51 to descend, and the two vertical sliding rods 51 can squeeze the two curved plates 58 closer to each other along the square guide rod 56 through the two control inclined surfaces 54. The extension of the vertical electric telescopic rod 53 can cause the top rod 52 and the vertical sliding rod 51 to rise, so that the two vertical sliding rods 51 can be separated from the two curved plates 58.

[0068] Since the traveling power mechanism 6 may not contact the ground soon after being separated from the landing section of the track body 11, a track stabilizing attachment mechanism 5 is provided to push the robot body 2 to continue to move forward along the landing section of the track body 11. When the robot body 2 is back on the inspection track 1, the track stabilizing attachment mechanism 5 can first cooperate with the landing section of the track body 11, which is conducive to the robot body 2 to smoothly go up and down the inspection track 1.

[0069] For example 3, please refer to Figures 1 to 9 ,This embodiment provides a technical solution: an industrial inspection robot, this embodiment is a further explanation of the structure of the second embodiment;

[0070] The follow-up visual mechanism 7 includes a prism 71, a vertical cylinder 72, a follow-up camera 73, a round cover 74, a follow-up ring 75 and a follow-up rod 76. The top of the steering shaft 612 is fixedly connected to the vertical prism 71. The top of the prism 71 is vertically slidably sleeved with the vertical cylinder 72. The bottom outer peripheral side of the vertical cylinder 72 is rotatably sleeved with the follow-up ring 75. The follow-up ring 75 is connected to the top rod 52 through the follow-up rod 76. The top of the vertical cylinder 72 is equipped with a follow-up camera 73. The end of the follow-up camera 73 is set toward the rear side, and the top of the follow-up camera 73 is equipped with a round cover 74 corresponding to the round hole. When the robot body 2 is on the track body 11, it does not need to provide a field of view of the travel direction because it moves along the track body 11 according to a predetermined trajectory. At this time, the vertical electric telescopic rod 53 is in a shortened state. At this time, the vertical cylinder 72 moves down with the top of the vertical electric telescopic rod 53. At this time, the round cover 74 closes the round hole to keep the top of the robot body 2 flush. When the robot body 2 moves on the ground, the vertical electric telescopic rod 53 extends to allow the two attachment wheels 59 to detach from the track body 11, and the vertical electric telescopic rod 53 continues to extend. The rod 76 and the follower ring 75 drive the vertical cylinder 72 to move upward relative to the edge rod 71, so that the follower camera 73 can extend from the round hole. At this time, the follower camera 73 faces backward, and the robot body 2 also moves backward on the ground. The follower camera 73 provides a field of view in the direction of travel, which is conducive to avoiding obstacles. When the steering power component controls the direction control disk 61 and the steering shaft 612 to turn, the steering shaft 612 also drives the follower camera 73 to turn through the edge rod 71 and the vertical cylinder 72, so that the follower camera 73 always faces the direction to be traveled.

[0071] It is worth noting that the controller 29 disclosed in the above embodiments respectively controls the panoramic camera 27, the control motor 37, the folding electric telescopic rod 47, the steering motor 614, the swinging electric telescopic rod 69, the extension motor 815, the rotating motor 94, the torsion motor 97, the inspection infrared probe 910 and the inspection camera 911, the track power motor 510, the vertical electric telescopic rod 53 and the follow-up camera 73, and its control method adopts the method commonly used in the prior art, wherein the steering motor 614, the control motor 37, the extension motor 815, the rotating motor 94, the torsion motor 97, and the track power motor 510 all adopt servo motors.

[0072] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0073] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial inspection robot, comprising an inspection track (1), wherein the inspection track (1) comprises a track body (11), wherein the track body (11) comprises a high-altitude inspection section, an inclined section and a ground section, wherein the high-altitude section and the ground section are both arranged horizontally, and side guide grooves (12) are respectively provided on both sides of the track body (11), and a convex strip (13) is provided on the top of the track body (11), wherein: Also includes: The robot body (2) comprises a seat plate (21), the top edge of the seat plate (21) is fixedly connected to a side shell (22), the top of the side shell (22) is detachably mounted with a shell cover (23), one side of the side shell (22) is provided with a side notch (25), one side of the shell cover (23) is provided with a top notch (26) corresponding to the side notch (25), and the rear side of the shell cover (23) is provided with a circular hole; A wheelbase synchronization control mechanism (3) is installed at the bottom front end of the seat plate (21), and two folding travel mechanisms (4) are installed at both ends of the wheelbase synchronization control mechanism (3); A traveling power mechanism (6) is installed on the seat plate (21), and a follow-up visual mechanism (7) is installed on the top of the traveling power mechanism (6), and the follow-up visual mechanism (7) is arranged corresponding to the circular hole; The inspection component extending mechanism (8) is installed on the seat plate (21), the inspection component extending mechanism (8) is arranged corresponding to the side notch (25), and the inspection component extending mechanism (8) is connected to the inspection mechanism (9).

2. The industrial inspection robot according to claim 1, characterized in that: The wheelbase synchronization control mechanism (3) comprises a mounting plate (31), an arch frame (32), a counter-synchronous moving assembly and a curved frame (36); the front end of the bottom of the seat plate (21) is fixedly connected to the arch frame (32) via the mounting plate (31); and the ends of the two curved frames (36) close to each other are connected in the arch frame (32) via the counter-synchronous moving assembly.

3. The industrial inspection robot according to claim 2, characterized in that: The foldable traveling mechanism (4) comprises a foldable electric telescopic rod (47), the ends of the two bent frames (36) that are away from each other are respectively fixedly connected to the top ends of the two upright poles (41), the bottom ends of the two upright poles (41) are respectively movably connected to one ends of the two foldable rods (43) through longitudinal folding shafts (42), the other ends of the two foldable rods (43) are respectively fixedly connected to two wheel frames (44), the two wheel frames (44) are respectively rotatably connected to two guide wheels (45), the two guide wheels (45) are respectively rollingly connected to the two side guide grooves (12), the sides of the two upright poles (41) that are close to each other are respectively fixedly connected to two movable seats (46), the two movable seats (46) are respectively movably connected to one ends of the two foldable electric telescopic rods (47), the sides of the two foldable rods (43) that are close to each other are respectively fixedly connected to two movable seats (48), the two movable seats (48) are respectively movably connected to the other ends of the corresponding two foldable electric telescopic rods (47).

4. The industrial inspection robot according to claim 1, characterized in that: The travel power mechanism (6) includes an integrated power motor (67), a swing control component and a steering power component. The rear end of the seat plate (21) is rotatably connected to a vertical steering shaft (612) through a bearing (611). The top outer peripheral side of the steering shaft (612) is connected to the steering power component. The bottom end of the steering shaft (612) is fixedly connected to the middle of the direction control disc (61). The bottom center of the direction control disc (61) is fixedly connected to a movable seat three (62). The movable seat three (62) is movably connected to the top of a rocker rod (63). The rocker rod (63) is The bottom end is fixedly connected to a wheel frame 2 (64), and a power wheel (65) is rotatably connected inside the wheel frame 2 (64). One end of the power wheel (65) is fixedly connected to the output shaft of an integrated power motor (67). The integrated power motor (67) is installed on the side of the wheel frame 2 (64). The bottom of the power wheel (65) is rollingly connected to the upper side of the track body (11). The middle outer peripheral side of the power wheel (65) is provided with an anti-slip annular groove (66) that cooperates with the convex strip (13). The bottom front side of the direction control disc (61) is connected to the front side of the rocker arm (63) through a swing control component.

5. The industrial inspection robot according to claim 4, characterized in that: The swing control assembly includes a swing electric telescopic rod (69) and a movable seat five (610); a movable seat four (68) is arranged on the front side of the bottom of the direction control disc (61); the movable seat four (68) is movably connected to one end of the swing electric telescopic rod (69); the front side of the swing rod (63) is fixedly connected to the movable seat five (610); the movable seat five (610) is movably connected to the other end of the swing electric telescopic rod (69).

6. The industrial inspection robot according to claim 4, characterized in that: The invention also comprises a track stabilizing attachment mechanism (5), wherein the track stabilizing attachment mechanism (5) comprises a track clamping power assembly, an attachment wheel (59), a track power motor (510) and an attachment annular groove (511), wherein the rear end bottom of the seat plate (21) is fixedly connected to two bottom rods (55), a transverse square guide rod (56) is fixedly connected between the bottoms of the two bottom rods (55), the two ends of the square guide rod (56) are respectively slidably connected to the rectangular sliding holes on the two bent plates (58), and a compression spring is sleeved on the middle of the square guide rod (56). (57), the bottom ends of the two bent plates (58) are rotatably connected to two vertical attachment wheels (59), the outer peripheral sides of the two attachment wheels (59) are respectively provided with two attachment annular grooves (511), the two attachment annular grooves (511) are respectively rollingly matched with the top two sides of the track body (11), the top of the attachment wheel (59) is fixedly connected to the output shaft of the track power motor (510), the track power motor (510) is installed on the corresponding bent plate (58), and the rear end of the seat plate (21) is installed with a track clamping power assembly.

7. The industrial inspection robot according to claim 6, characterized in that: The track clamping power assembly comprises a vertical slide bar (51), a top bar (52), a vertical electric telescopic rod (53) and a control inclined plane (54). Two slide bar holes are respectively provided on the left and right sides of the rear end of the seat plate (21). Two vertical slide bars (51) are respectively slidably connected in the two slide bar holes. The tops of the two vertical slide bars (51) are respectively fixedly connected to the two ends of the top bar (52). A vertical electric telescopic rod (53) is installed on the upper side of the rear end of the seat plate (21). The top of the vertical electric telescopic rod (53) is connected to the middle part of the top bar (52). Two control inclined planes (54) are respectively provided on the sides of the bottom ends of the two vertical slide bars (51) that are close to each other. The two control inclined planes (54) are respectively in frictional contact with the sides of the tops of the two bent plates (58) that are away from each other.

8. The industrial inspection robot according to claim 7, characterized in that: The follow-up visual mechanism (7) includes a follow-up camera (73). The top end of the steering shaft (612) is fixedly connected to a vertical prism (71). The top end of the prism (71) is vertically slidably sleeved with a vertical cylinder (72). The bottom outer peripheral side of the vertical cylinder (72) is rotatably sleeved with a follow-up ring (75). The follow-up ring (75) is connected to the top rod (52) via a follow-up rod (76). The top end of the vertical cylinder (72) is equipped with a follow-up camera (73), and the top of the follow-up camera (73) is equipped with a round cover (74) corresponding to the round hole.

9. The industrial inspection robot according to claim 1, characterized in that: The inspection component extension mechanism (8) includes a 180-degree flip assembly and an extension plate (814). The seat plate (21) is provided with a 180-degree flip assembly, the 180-degree flip assembly is connected to one end of the extension plate (814), the extension plate (814) is arranged corresponding to the side notch (25), and the other end of the extension plate (814) is connected to the inspection component (9).

10. The industrial inspection robot according to claim 9, characterized in that: The inspection component (9) comprises a flip plate (95), a torsion long plate (99), a flip power assembly and a torsion power assembly. One end of the extension plate (814) away from the 180-degree flip assembly is connected to one end of the flip plate (95) via the flip power assembly. The other end of the flip plate (95) is connected to the torsion long plate (99) via the torsion power assembly. The sides of the torsion long plate (99) are respectively installed with an inspection infrared probe (910) and an inspection camera (911).

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