An industrial inspection robot

Abstract

The application discloses an industrial inspection robot, and relates to the technical field of inspection robots, which comprises an inspection track, wherein the inspection track comprises a track main body, the track main body comprises an aerial inspection section, an inclined section and a landing section, side guide grooves are formed in the two sides of the track main body, and a convex strip is arranged on the top of the track main body; the robot main body comprises a seat plate, the top edge of the seat plate is fixedly connected with a side shell, a shell cover is detachably arranged on the top of the side shell, a side notch is formed in one side of the side shell, a top notch corresponding to the side notch is formed in one side of the shell cover, and a circular hole is formed in the back side of the shell cover; the industrial inspection robot can be used for inspecting a factory workshop in the air along the inspection track, can also be used for freely moving on the ground from the inspection track, and the inspection track can be conveniently adjusted according to requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, in particular to an industrial inspection robot. BACKGROUND

[0002] At present, in order to ensure the safety of production in the factory workshop, an inspection robot is generally used to patrol back and forth, and the inspection robot is generally divided into a semi-air track type and a free activity on the ground. The track type inspection robot has a fixed activity track and cannot freely adjust the inspection track according to needs, while the robot freely moving on the ground can adjust the activity track conveniently, but since it moves on the ground, it is easy to hinder other equipment, so the applicability of the semi-air track type and the free activity on the ground is generally poor. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the defects of the prior art, and to provide an industrial inspection robot which can inspect the factory workshop in the air along the inspection track, and can freely move on the ground from the inspection track, and the inspection track can be adjusted conveniently according to needs, so as to effectively solve the problems in the background art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an industrial inspection robot, comprising an inspection track, the inspection track comprising a track main body, the track main body comprising an aerial inspection section, an inclined section and a landing section, the aerial section and the landing section being horizontally arranged, side guide grooves being formed on both sides of the track main body, and a convex strip being arranged on the top of the track main body, further comprising:

[0005] A robot main body comprising a seat plate, a side shell being fixedly connected to the top edge of the seat plate, a shell cover being detachably mounted on the top of the side shell, a side notch being formed on one side of the side shell, a top notch corresponding to the side notch being formed on one side of the shell cover, and a circular hole being formed on the back side of the shell cover;

[0006] A wheel track synchronous control mechanism being installed at the bottom of the seat plate, and two folding travel mechanisms being installed at both ends of the wheel track synchronous control mechanism;

[0007] A travel power mechanism being installed on the seat plate, a follow-up vision mechanism being installed on the top of the travel power mechanism, and the follow-up vision mechanism corresponding to the circular hole;

[0008] An inspection component extension mechanism being installed on the seat plate, the inspection component extension mechanism corresponding to the side notch, and the inspection component extension mechanism being connected to an inspection mechanism.

[0009] The high-altitude inspection section on the track body is distributed in the air of the factory workshop, the wheel track synchronous control mechanism drives the two folding traveling mechanisms to approach each other, the folding traveling mechanism is in rolling fit with the side guide grooves on both sides of the track body, the traveling power mechanism is in rolling fit with the protrusions on the track body, the traveling power mechanism works to make the robot body travel in the air along the high-altitude inspection section on the track body, at this time, the inspection component extension mechanism makes the inspection mechanism extend out of the side gap of the side shell, and makes 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 by means of the inspection mechanism, the landing section can be arranged at the open space of the factory workshop, the robot body can fall to the landing section along the inclined section, during the falling process, the inspection component extension mechanism lifts the inspection mechanism, and the inspection mechanism is located on the upper side of the shell cover, then the folding traveling mechanism contacts the ground, with the continuous traveling of the traveling power mechanism, the traveling power mechanism is separated from the protrusions and the track body, then the traveling power mechanism contacts the ground, with the work of the traveling power mechanism, the industrial inspection robot can be controlled to travel backward on the ground, the follow-up visual mechanism can change with the change of the direction of the backward travel of the industrial inspection robot, thereby providing the visual field of the travel direction of the industrial inspection robot, which is beneficial to the avoidance of obstacles by the industrial inspection robot.

[0010] Further, the wheel track synchronous control mechanism comprises a mounting plate, an arch-shaped frame, a pair of opposite synchronous moving assemblies and a bent frame, the front end of the bottom of the seat plate is fixedly connected with the arch-shaped frame through the mounting plate, and the arch-shaped frame is connected with one ends of the two bent frames approaching each other through the pair of opposite synchronous moving assemblies. The mounting plate is used for arranging the arch-shaped frame, the arch-shaped frame is used for mounting the pair of opposite synchronous moving assemblies, and the pair of opposite synchronous moving assemblies can control the two bent frames to approach each other or move away from each other.

[0011] Further, the folding traveling mechanism comprises a folding electric telescopic rod, the top ends of two vertical rods are fixedly connected with one ends of two folding rods respectively through longitudinal folding shafts, the other ends of the two folding rods are fixedly connected with two wheel frames respectively, two guide wheels are rotatably connected in the two wheel frames respectively, the two guide wheels are in rolling connection with the two side guide grooves respectively, two movable seats are fixedly connected on one sides of the two vertical rods approaching each other respectively, one ends of two folding electric telescopic rods are movably connected with the two movable seats respectively, two movable seats are fixedly connected on one sides of the two folding rods approaching each other respectively, and the other ends of the two folding electric telescopic rods are movably connected with the two movable seats respectively.

[0012] When it is needed to move on the track body, the folding electric telescopic rod is shortened, the folding rod is pulled to move relative to the vertical rod through the folding shaft, the folding rod is arranged perpendicularly to the vertical rod, the opposite synchronous moving assembly drives the two guide wheels to extend into the two side guide grooves through the two bending frames, so that the industrial inspection robot can stably move along the track body, when it is needed to freely move the industrial inspection robot on the ground, the opposite synchronous moving assembly first drives the two guide wheels to move away from each other through the two bending frames, then the folding electric telescopic rod is lengthened, so that the folding rod is in a vertical state, the two guide wheels can be in rolling contact with the ground respectively, and the width of the industrial inspection robot can be reduced by driving the two guide wheels to move close to each other again by the opposite synchronous moving assembly, so that the industrial inspection robot is suitable for walking in a relatively narrow ground passage.

[0013] Further, the walking power mechanism comprises a comprehensive power motor, a swing control assembly and a steering power assembly, a vertical steering shaft is rotatably connected to the rear end of the seat plate through a bearing, the steering power assembly is connected to the top outer periphery of the steering shaft, the bottom end of the steering shaft is fixedly connected to the middle part of the direction control disc, the bottom center of the direction control disc is fixedly connected to the movable seat three, the top end of the swing rod is movably connected to the movable seat three, the bottom end of the swing rod is fixedly connected to the wheel frame two, the power wheel is rotatably connected in the wheel frame two, one end of the power wheel is fixedly connected to the output shaft of the comprehensive power motor, the comprehensive power motor is installed on the side of the wheel frame two, the bottom of the power wheel is in rolling connection with the upper side of the track body, the middle part of the power wheel is provided with a anti-disengagement annular groove matched with the convex strip, and the front side of the bottom of the direction control disc is connected to the front side of the swing rod through the swing control assembly.

[0014] The anti-disengagement annular groove matched with the convex strip enables the power wheel to stably walk along the track body, the comprehensive power motor works to drive the power wheel to rotate, and the power wheel rolls along the track body to drive the robot body to walk along the track body, when the industrial inspection robot body is located at the landing section and is ready to land, the comprehensive power motor works to make the power wheel disengage from the front end of the landing section, then the swing control assembly controls the swing rod to be in a vertical state, at this time, the power wheel is in rolling contact with the ground, the comprehensive power motor works to drive the power wheel to roll on the ground, so that the robot body can walk backward on the ground, it should be noted that in order to better control the direction, the walking power mechanism should be ensured to face the walking direction when the robot body walks on the ground, at this time, the follow-up vision mechanism on the walking power mechanism can provide the visual field of the walking direction, when it is needed to turn, the steering power assembly controls the direction control disc and the steering shaft to rotate relative to the robot body, so as to change the direction of the power wheel and the walking direction of the robot body.

[0015] Further, the swing control assembly comprises a swing electric telescopic rod and a movable seat five, the bottom front side of the direction control disc is provided with a movable seat four, one end of the swing electric telescopic rod is movably connected with the movable seat four, the front side of the swing rod is fixedly connected with a movable seat five, the other end of the swing electric telescopic rod is movably connected with the movable seat five.

[0016] When the robot body moves on the track body, the swing electric telescopic rod is shortened, the swing rod is inclined, the anti-falling 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 lengthened, the swing rod is kept in a vertical state, the power wheel contacts the ground, and the robot body is kept in a horizontal state.

[0017] Further, the track stable attachment mechanism comprises 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 with two bottom rods, the bottom rods are fixedly connected with a transverse square guide rod between the bottoms, the square guide rod is slidably connected with the rectangular sliding holes on the two bent plates at the two ends, the middle part of the square guide rod is sleeved with a compression spring, the bottom ends of the two bent plates are rotatably connected with two vertical attachment wheels, the outer circumferential sides of the two attachment wheels are respectively provided with two attachment annular grooves, the two attachment annular grooves are respectively in rolling cooperation with the top sides of the track body, the top of the attachment wheel is fixedly connected with the output shaft of the track power motor, the track power motor is installed on the corresponding bent plate, and the rear end of the seat plate is provided with the track clamping power assembly. The track clamping power assembly can drive the two bent plates to move close to each other along the square guide rod, at this time, the compression spring is compressed, the two attachment annular grooves on the two attachment wheels cooperate with the top sides of the track body, the robot body can be prevented from being separated from the track body, the track power motor can drive the corresponding attachment wheel to rotate, and power can be provided for the robot body to move on the track body. When it is needed to leave the track body, the track clamping power assembly is separated from the contact with the two bent plates, the compression spring drives the two bent plates to move away from each other along the square guide rod, at this time, the two attachment wheels are separated from the track body.

[0018] Further, the track clamping power assembly comprises a vertical sliding rod, a top rod, a vertical electric telescopic rod and a control inclined surface, two vertical sliding rods are vertically and slidably connected in the two sliding rod holes on the left and right sides of the rear end of the seat plate, the top parts of the two vertical sliding rods are fixedly connected with 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 part of the vertical electric telescopic rod is connected with the middle part of the top rod, two control inclined surfaces are arranged on the side where the bottom ends of the two vertical sliding rods are close to each other, and the two control inclined surfaces are in frictional contact with the sides of the top parts of the two bent plates which are away from each other.

[0019] The vertical electric telescopic rod shortening can drive the top rod and the vertical slide rod to descend, and the two vertical slide rods can extrude the two bent plates along the square guide rod to move close to each other through the two control inclined surfaces, the vertical electric telescopic rod elongation can drive the top rod and the vertical slide rod to ascend, and can make the two vertical slide rods and the two bent plates disengage.

[0020] Further, the follow-up visual mechanism comprises a follow-up camera, the top end of the steering shaft is fixedly connected with a vertical edge rod, a vertical cylinder is sleeved on the top of the edge rod in a vertical sliding mode, a follow-up ring is rotatably sleeved on the bottom outer circumferential side of the vertical cylinder, the follow-up ring is connected with the top rod through a follow-up rod, the top end of the vertical cylinder is provided with the follow-up camera, and the top of the follow-up camera is provided with a circular cover corresponding to the circular hole. When the robot body is on the track body, since it travels along the track body according to a predetermined track, the visual field of the travel direction does not need to be provided, and at this time, the vertical electric telescopic rod is in a shortened state, at this time, the vertical cylinder moves downward with the top of the vertical electric telescopic rod, at this time, the circular cover closes the circular hole, keeping the top of the robot body flush, when the robot body travels on the ground, the vertical electric telescopic rod elongates to make the two attached wheels disengage from the track body, the vertical electric telescopic rod continues to elongate, the vertical cylinder moves upward relative to the edge rod through the follow-up rod and the follow-up ring, and the follow-up camera can be extended out of the circular hole, at this time, the follow-up camera faces the rear, the robot body also travels rearward on the ground, the visual field of the travel direction is provided by means of the follow-up camera, and obstacles can be avoided, 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] Further, the inspection component extension mechanism comprises a one-hundred-and-eighty-degree turnover assembly and an extension plate, the seat plate is provided with the one-hundred-and-eighty-degree turnover assembly, the one-hundred-and-eighty-degree turnover assembly is connected with one end of the extension plate, the extension plate is arranged in correspondence with the side notch, and the other end of the extension plate is connected with the inspection component. When the robot body is on the track body, since the robot body is in the air, at this time, the one-hundred-and-eighty-degree turnover assembly allows the extension plate to be arranged downward, so that the inspection component is located on the lower side of the robot body, and the inspection component can be used to inspect abnormal conditions of the factory workshop in the air, when the robot body is on the ground, the one-hundred-and-eighty-degree turnover assembly drives the extension plate to turn by one-hundred-and-eighty degrees, so that the extension plate faces upward, and the inspection component is located on the upper side of the robot body, so that the inspection work on the surrounding environment on the ground can be completed.

[0022] Further, the inspection component comprises a turnover plate, a twist long plate, a turnover power assembly and a twist power assembly, one end of the extension plate away from the one end of the one hundred and eighty degree turnover assembly is connected to one end of the turnover plate through the turnover power assembly, the other end of the turnover plate is connected to the twist long plate through the twist power assembly, and the side surface of the twist long plate is respectively provided with an inspection infrared probe and an inspection camera. The turnover power assembly can drive the turnover plate to move relative to the extension plate, change the included angle between the extension plate and the turnover plate, and the twist power assembly is used for driving the twist long plate to rotate relative to the end of the turnover plate, so as to change the direction of the inspection infrared probe and the inspection camera, make the inspection direction of the inspection infrared probe and the inspection camera more free, the inspection infrared probe is used for quickly detecting fire, and the inspection camera is used for providing camera function. When the inspection infrared probe and the inspection camera are not used, the extension plate is in the side notch by means of the one hundred and eighty degree turnover assembly, the side notch is closed, at the same time, the turnover plate and the twist long plate close the top notch, at this time, the inspection infrared probe and the inspection camera are in the inside of the side shell, the top of the shell cover can be more tidy, and the inspection infrared probe and the inspection camera in the inside of the side shell can be protected.

[0023] Compared with the prior art, the industrial inspection robot has the beneficial effects that:

[0024] 1. The high-altitude inspection section on the track body is distributed in the air of the factory workshop, the wheel track synchronous control mechanism drives the two folding travel mechanisms to approach each other, the folding travel mechanism is in rolling fit with the side guide groove on the two sides of the track body, the travel power mechanism is in rolling fit with the convex strip on the track body, the travel power mechanism works to make the robot body travel along the high-altitude inspection section on the track body in the air, at this time, the inspection component extension mechanism makes the inspection mechanism extend out of the side notch of the side shell, and the inspection mechanism is lowered, at this time, the inspection mechanism is located on the lower side of the seat plate, and the factory workshop is inspected by means of the inspection mechanism.

[0025] 2. The robot body can fall along the inclined section to the landing section, the inspection component extension mechanism lifts the inspection mechanism during the falling process, the inspection mechanism is located on the upper side of the shell cover, then the folding travel mechanism contacts the ground, with the continuous travel of the travel power mechanism, the travel power mechanism is separated from the convex strip and the track body, then the travel power mechanism contacts the ground, with the work of the travel power mechanism, the industrial inspection robot can be controlled to travel backward on the ground, and the follow-up visual mechanism can change with the change of the direction of the backward travel of the industrial inspection robot, so as to provide the visual field of the travel direction of the industrial inspection robot, which is beneficial to the avoidance of obstacles by the industrial inspection robot.

[0026] 3. The factory workshop can be inspected in the air along the inspection track, and can also be freely moved on the ground from the inspection track, and the inspection track can be adjusted as required. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Structure diagram of the industrial inspection robot of the present application;

[0028] Figure 2 Structure diagram of the industrial inspection robot of the present application;

[0029] Figure 3 Structure diagram of the industrial inspection robot of the present application;

[0030] Figure 4 Structure diagram of the industrial inspection robot of the present application;

[0031] Figure 5 Structure diagram of the industrial inspection robot of the present application; Figure 4 Structure diagram of the industrial inspection robot of the present application;

[0032] Figure 6 Structure diagram of the industrial inspection robot of the present application;

[0033] Figure 7 Structure diagram of the industrial inspection robot of the present application; Figure 6 Structure diagram of the industrial inspection robot of the present application;

[0034] Figure 8 Structure diagram of the industrial inspection robot of the present application;

[0035] Figure 9 Structure diagram of the industrial inspection robot of the present application; Figure 8 Structure diagram of the industrial inspection robot of the present application;

[0036] In the figure: 1 track inspection track, 11 track main body, 12 side guide groove, 13 convex strip, 2 robot main 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 wheelbase synchronous control mechanism, 31 mounting plate, 32 arch-shaped frame, 33 bidirectional screw rod, 34 guide rod, 35 screw nut, 36 bent frame, 37 control motor, 4 folding travel mechanism, 41 vertical rod, 42 folding shaft, 43 folding rod, 44 wheel frame one, 45 guide wheel, 46 movable seat one, 47 folding electric telescopic rod, 48 movable seat two, 5 track stable attachment mechanism, 51 vertical sliding rod, 52 top rod, 53 vertical electric telescopic rod, 54 control slope, 55 bottom rod, 56 square guide rod, 57 compression spring, 58 bent plate, 59 attachment wheel, 510 track power motor, 511 attachment annular groove, 6 travel power mechanism, 61 direction control disc, 62 movable seat three, 63 swing rod, 64 wheel frame two, 65 power wheel, 66 anti-dropping annular groove, 67 comprehensive 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 vision mechanism, 71 edge rod, 72 vertical cylinder, 73 follow-up camera, 74 round cover, 75 follow-up ring, 76 follow-up rod, 8 track 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 bent rod, 87 rotating shaft four, 88 bent rod one, 89 movable seat, 810 rotating shaft five, 811 rotating shaft six, 812 rotating shaft seven, 813 bent rod two, 814 extension plate, 815 extension motor, 9 track inspection component, 91 convex block one, 92 rotating shaft, 93 convex block two, 94 rotating motor, 95 overturning plate, 96 semicircular fixed plate, 97 torsion motor, 98 semicircular torsion plate, 99 torsion long plate, 910 track inspection infrared probe, 911 track inspection camera. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0038] Embodiment one, please refer to Figures 1 to 9The embodiment provides a technical scheme: an industrial inspection robot, comprising an inspection track 1, the inspection track 1 comprising a track main body 11, a side guide groove 12 and a convex strip 13, the track main body 11 comprising a high-altitude inspection section, an inclined section and a landing section, the high-altitude section and the landing section being horizontally arranged, the side guide grooves 12 being formed on the two sides of the track main body 11 respectively, and the convex strip 13 being arranged on the top of the track main body 11, further comprising a robot main body 2, a wheel track synchronous control mechanism 3, a traveling power mechanism 6 and an inspection component extension mechanism 8;

[0039] The robot main body 2 comprises 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 with the side shell 22, the top of the side shell 22 is detachably connected with the shell cover 23, one side of the side shell 22 is provided with the side notch 25, one side of the shell cover 23 is provided with the top notch 26 corresponding to the side notch 25, and the rear side of the shell cover 23 is provided with a circular hole.

[0040] The robot main body 2 comprises shell cover bolts 24, and the four corners of the shell cover 23 are connected with the top four corners of the side shell 22 through the shell cover bolts 24.

[0041] The robot main body 2 comprises panoramic cameras 27 and batteries 28, and the front and rear ends of the side shell 22 are respectively provided with two panoramic cameras 27, so that the front and rear sides of the side shell 22 can be observed, the batteries 28 and a controller 29 are respectively arranged in the side shell 22, the controller 29 is used for controlling various electric equipment, the batteries 28 are used for supplying power for the various electric equipment, and the robot main body 2 is also convenient for charging the batteries 28 after falling on the ground along the inspection track 1.

[0042] The wheel track synchronous control mechanism 3 is arranged at the bottom front end of the seat plate 21, and two folding traveling mechanisms 4 are respectively arranged at the two ends of the wheel track synchronous control mechanism 3.

[0043] The wheel track synchronous control mechanism 3 comprises mounting plates 31, an arch-shaped frame 32, opposite synchronous moving assemblies and bent frames 36, the bottom front end of the seat plate 21 is fixedly connected with the arch-shaped frame 32 through two mounting plates 31, and the arch-shaped frame 32 is connected with the opposite ends of the two bent frames 36 through the opposite synchronous moving assemblies.

[0044] The opposite synchronous moving assembly comprises a bidirectional screw rod 33, a guide rod 34, screw nuts 35, and a control motor 37. The bidirectional screw rod 33 is rotationally connected to the ends of the transverse arch-shaped frame 32, the screw threads at the two ends of the bidirectional screw rod 33 are opposite in direction, the transverse guide rod 34 is fixedly connected in the arch-shaped frame 32, the guide holes in the two bent frames 36 are slidably connected with the guide rod 34, the two screw nuts 35 are fixedly connected to the two bent frames 36 respectively, the two screw nuts 35 are in mating connection with the two ends of the bidirectional screw rod 33 respectively, the output shaft of the control motor 37 is fixedly connected to one end of the bidirectional screw rod 33, the control motor 37 is installed on the arch-shaped frame 32, the control motor 37 drives the bidirectional screw rod 33 to rotate clockwise, the bidirectional screw rod 33 and the two screw nuts 35 drive the two bent frames 36 to move closer to each other along the guide rod 34, the control motor 37 drives the bidirectional screw rod 33 to rotate counterclockwise, the bidirectional screw rod 33 and the two screw nuts 35 drive the two bent frames 36 to move away from each other along the guide rod 34.

[0045] The mounting plate 31 is used for arranging the arch-shaped frame 32, and the arch-shaped frame 32 is used for installing the opposite synchronous moving assembly. The opposite synchronous moving assembly can control the two bent frames 36 to move closer to each other or move away from each other.

[0046] The folding traveling mechanism 4 comprises vertical rods 41, folding shafts 42, folding rods 43, wheel frames one 44, guide wheels 45, movable seats one 46, folding electric telescopic rods 47, and movable seats two 48. The top ends of the two vertical rods 41 are fixedly connected to the ends of the two bent frames 36 away from each other, 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 shafts 42, the other ends of the two folding rods 43 are fixedly connected with the two wheel frames one 44 respectively, the two wheel frames one 44 are rotationally connected with the two guide wheels 45 respectively, the two guide wheels 45 are in rolling connection with the two side guide grooves 12 respectively, the two movable seats one 46 are fixedly connected to the sides of the two vertical rods 41 close to each other, one end of the two folding electric telescopic rods 47 is movably connected with the two movable seats one 46 through the movable shaft one, the two movable seats two 48 are fixedly connected to the sides of the two folding rods 43 close to each other, the other end of the two folding electric telescopic rods 47 is movably connected with the two movable seats two 48 through the movable shaft two.

[0047] When it is needed to move on the track body 11, the folding electric telescopic rod 47 is shortened, the folding rod 43 is pulled to move relative to the vertical rod 41 through the folding shaft 42, the folding rod 43 is arranged perpendicularly to the vertical rod 41, the opposite synchronous moving assembly drives the two guide wheels 45 to extend into the two side guide grooves 12 through the two bending frames 36, so that the industrial inspection robot can stably move along the track body 11, when it is needed to freely move the industrial inspection robot on the ground, the opposite synchronous moving assembly first drives the two guide wheels 45 to move away from each other through the two bending frames 36, and then the folding electric telescopic rod 47 is lengthened, so that the folding rod 43 is in a vertical state, so that the two guide wheels 45 are in rolling contact with the ground, respectively, and when the opposite synchronous moving assembly drives the two guide wheels 45 to move close to each other again, the width of the industrial inspection robot can be reduced, which is suitable for walking in a relatively narrow ground passage.

[0048] The traveling power mechanism 6 is installed on the seat plate 21, and the top of the traveling power mechanism 6 is provided with a following vision mechanism 7 corresponding to the circular hole;

[0049] The traveling power mechanism 6 comprises a direction control disc 61, a movable seat three 62, a swing rod 63, a wheel frame two 64, a power wheel 65, a anti-off annular groove 66, a comprehensive power motor 67, a swing control assembly, a bearing 611, a steering shaft 612 and a steering power assembly. The rear end of the seat plate 21 is rotationally connected with a vertical steering shaft 612 through the bearing 611, the top outer circumferential side of the steering shaft 612 is connected with the steering power assembly, the bottom end of the steering shaft 612 is fixedly connected with the middle part of the direction control disc 61, the bottom center of the direction control disc 61 is fixedly connected with the movable seat three 62, the movable seat three 62 is movably connected with the top end of the swing rod 63 through a movable shaft three, the bottom end of the swing rod 63 is fixedly connected with the wheel frame two 64, the wheel frame two 64 is rotationally connected with the power wheel 65, one end of the power wheel 65 is fixedly connected with the output shaft of the comprehensive power motor 67, the comprehensive power motor 67 is installed on the side of the wheel frame two 64, the bottom of the power wheel 65 is rollingly connected with the upper side of the track body 11, the middle part outer circumferential side of the power wheel 65 is provided with the anti-off annular groove 66 matched with the convex strip 13, and the bottom front side of the direction control disc 61 is connected with the front side of the swing rod 63 through the swing control assembly.

[0050] The anti-disengagement annular groove 66 cooperates with the convex strip 13 to enable the power wheel 65 to stably travel along the track main body 11. The comprehensive power motor 67 drives the power wheel 65 to rotate, and the power wheel 65 rolls along the track main body 11 to drive the robot main body 2 to travel along the track main body 11. When the industrial inspection robot main body is located at the landing section and is ready to land, the comprehensive power motor 67 drives the power wheel 65 to disengage from the front end of the landing section, and then the swing control assembly 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 comprehensive power motor 67 drives the power wheel 65 to roll on the ground, so that the robot main body 2 can travel backward on the ground. It should be noted that in order to better control the direction, the traveling power mechanism 6 should be ensured to face the direction of travel when the robot main body 2 travels on the ground. At this time, the follow-up vision mechanism 7 on the traveling power mechanism 6 can provide a visual field of the traveling direction. When turning, the turning power assembly controls the direction control disc 61 and the turning shaft 612 to rotate relative to the robot main body 2, so as to change the direction of the power wheel 65, and thus change the direction of the robot main body 2.

[0051] The turning power assembly comprises a driven gear 613, a turning motor 614, and a driving gear 615. The top outer circumferential side of the turning shaft 612 is fixedly sleeved with the driven gear 613. The seat plate 21 is provided with the turning motor 614. The output shaft of the turning motor 614 is fixedly connected with the driving gear 615. The driving gear 615 is in meshing connection with the driven gear 613. The turning motor 614 drives the turning shaft 612 to rotate relative to the seat plate 21 through the transmission of the driving gear 615 and the driven gear 613, so as to control the direction of travel on the ground.

[0052] The swing control assembly comprises a movable seat four 68, a swing electric telescopic rod 69, and a movable seat five 610. The bottom front side of the direction control disc 61 is provided with the movable seat four 68. The movable seat four 68 is movably connected with 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 with the movable seat five 610. The movable seat five 610 is movably connected with the other end of the swing electric telescopic rod 69 through a movable shaft five.

[0053] When the robot main body 2 moves on the track main body 11, the swing electric telescopic rod 69 is shortened, the swing rod 63 is inclined, the anti-disengagement annular groove 66 cooperates with the convex strip 13, and the robot main body 2 is kept in a horizontal state. When the robot main body 2 needs to move on the ground, the swing electric telescopic rod 69 is lengthened, the swing rod 63 is in a vertical state, the power wheel 65 contacts the ground, and the robot main body 2 is kept in a horizontal state.

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

[0055] The inspection component extension mechanism 8 comprises a 180-degree flipping assembly and an extension plate 814, the 180-degree flipping assembly is installed on the seat plate 21, one end of the 180-degree flipping assembly is connected with 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 with the inspection component 9.

[0056] The 180-degree flipping assembly comprises a fixed seat 81, a control short rod 82, a rotating shaft one 83, a rotating shaft two 84, a rotating shaft three 85, an L-shaped bending rod 86, a rotating shaft four 87, a bending rod one 88, a movable seat 89, a rotating shaft five 810, a rotating shaft six 811, a rotating shaft seven 812, a bending rod two 813 and an extension motor 815, the fixed seat 81 is fixedly connected with the seat plate 21 at a position corresponding to the side notch 25, one end of the fixed seat 81 away from the side notch 25 is rotationally connected with the rotating shaft one 83, the end of the rotating shaft one 83 is fixedly connected with the extension motor 815, the extension motor 815 is installed on the seat plate 21 through a motor seat, one end of the control short rod 82 is fixedly connected with the rotating shaft one 83 in the middle, the other end of the control short rod 82 is movably connected with one end of the L-shaped bending rod 86 through the rotating shaft two 84, one end of the L-shaped bending rod 86 is movably connected with the rotating shaft four 87 at a bending position of the bending rod one 88, the other end of the L-shaped bending rod 86 is movably connected with the movable seat 89 through the rotating shaft five 810, the other end of the movable seat 89 is movably connected with one end of the bending rod two 813 through the rotating shaft six 811, the other end of the bending rod two 813 is movably connected with the other end of the bending rod one 88 through the rotating shaft seven 812, wherein one end of the bending rod one 88 close to the rotating shaft three 85 is parallel to the control short rod 82, the rotating shaft four 87, the rotating shaft two 84, the rotating shaft one 83 and the rotating shaft three 85 are always at four corners of a parallelogram, and the other end of the extension plate 814 is fixedly connected with the movable seat 89, if the extension motor 815 works to drive the rotating shaft one 83 to rotate counterclockwise, the control short rod 82 swings to the left, the left end of the movable seat 89 can be swung downward through the L-shaped bending rod 86, the bending rod one 88 and the bending rod two 813 which are distributed in a scissors shape, until the movable seat 89 and the extension plate 814 are vertically arranged downward, if the extension motor 815 works to drive the rotating shaft one 83 to rotate clockwise, the control short rod 82 swings to the right, and the left end of the movable seat 89 can be swung upward, until the movable seat 89 and the extension plate 814 are vertically arranged upward, at this time, the extension plate 814 is in the side notch 25, and the side notch 25 is blocked, so that the 180-degree flipping assembly can control the extension plate 814 to move in a range of 180 degrees.

[0057] When the robot body 2 is on the track body 11, since the robot body 2 is in the air, at this time the one hundred and eighty degree turning assembly sets the extension plate 814 downward, sets the inspection component 9 on the lower side of the robot body 2, and the inspection component 9 inspects the abnormal conditions of the factory workshop in the air, when the robot body 2 is on the ground, the one hundred and eighty degree turning assembly turns the extension plate 814 one hundred and eighty degrees, sets the extension plate 814 upward, and sets the inspection component 9 on the upper side of the robot body 2, so as to complete the inspection work of the surrounding environment on the ground.

[0058] The inspection component 9 comprises a turnover plate 95, a twisted long plate 99, a turnover power assembly and a twisting power assembly, one end of the extension plate 814 away from the one hundred and eighty degree turning assembly is connected to one end of the turnover plate 95 through the turnover power assembly, the other end of the turnover plate 95 is connected to the twisted long plate 99 through the twisting power assembly, and the side surface of the twisted long plate 99 is respectively provided with an inspection infrared probe 910 and an inspection camera 911.

[0059] The turnover power assembly comprises a protrusion one 91, a rotating shaft 92, a protrusion two 93 and a rotating motor 94, one end of the extension plate 814 away from the one hundred and eighty degree turning assembly is fixedly connected to the protrusion one 91, the protrusion one 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 one 91, the other end of the rotating shaft 92 is fixedly connected to the protrusion two 93, the protrusion two 93 is fixedly connected to the end of the turnover plate 95, the rotating motor 94 works to drive the rotating motor 94 to rotate relative to the protrusion one 91, so as to drive the protrusion two 93 to drive the turnover plate 95 to move relative to the extension plate 814.

[0060] The twisting power assembly comprises a semicircular fixed plate 96, a twisting motor 97 and a semicircular twisting plate 98, the side surface of one end of the turnover plate 95 away from the protrusion two 93 is fixedly connected to the semicircular fixed plate 96, the semicircular fixed plate 96 is installed on the twisting motor 97, the output shaft of the twisting motor 97 is fixedly connected to the semicircular twisting plate 98, the semicircular twisting plate 98 is fixedly connected to the end side surface of the twisted long plate 99, and the twisting motor 97 works to drive the twisted long plate 99 and the semicircular twisting plate 98 to rotate relative to the turnover plate 95.

[0061] The turnover power assembly can drive the turnover plate 95 to move relative to the extension plate 814, change the included angle between the extension plate 814 and the turnover plate 95, and the torsion power assembly is used to drive the torsion long plate 99 to rotate relative to the end of the turnover plate 95, so as to change the orientation of the inspection infrared probe 910 and the inspection camera 911, and make the inspection direction of the inspection infrared probe 910 and the inspection camera 911 more free. The inspection infrared probe 910 is used for rapid detection of fire, and the inspection camera 911 is used for providing a camera function. When the inspection infrared probe 910 and the inspection camera 911 are not used, the extension plate 814 is placed in the side gap 25 by means of the 180-degree turnover assembly, the side gap 25 is closed, and at the same time the turnover plate 95 and the torsion long plate 99 close the top gap 26. At this time, the inspection infrared probe 910 and the inspection camera 911 are both inside the side shell 22, so that the top of the shell cover 23 is more tidy, and the inspection infrared probe 910 and the inspection camera 911 inside the side shell 22 can be protected.

[0062] In use, the high-altitude inspection section on the track body 11 is distributed in the air of the factory workshop, the wheel track synchronous control mechanism 3 drives the two folding travel mechanisms 4 to approach each other, the folding travel mechanisms 4 are in rolling cooperation with the side guide grooves 12 on both sides of the track body 11, the travel power mechanism 6 is in rolling cooperation with the convex strips 13 on the track body 11, and the travel power mechanism 6 works to make the robot body 2 travel along the high-altitude inspection section on the track body 11 in the air. At this time, the inspection component extension mechanism 8 makes the inspection mechanism 9 extend from the side gap 25 of the side shell 22, and makes the inspection mechanism 9 droop. At this time, the inspection mechanism 9 is located on the lower side of the seat plate 21, and the factory workshop is inspected by means of the inspection mechanism 9. The landing section can be arranged at the empty land of the factory workshop, the robot body 2 can fall to the landing section along the inclined section, the inspection component extension mechanism 8 lifts the inspection mechanism 9 during the falling process, and the inspection mechanism 9 is located on the upper side of the shell cover 23. Then the folding travel mechanism 4 contacts the ground, and as the travel power mechanism 6 continues to travel, the travel power mechanism 6 is separated from the convex strips 13 and the track body 11. Then the travel power mechanism 6 contacts the ground, and as the travel power mechanism 6 works, the industrial inspection robot can be controlled to travel backward on the ground. The follow-up vision mechanism 7 can change as the direction of the industrial inspection robot changes when the industrial inspection robot travels backward, thereby providing a field of vision of the travel direction of the industrial inspection robot, which is beneficial to the industrial inspection robot avoiding obstacles.

[0063] Embodiment two, please refer to Figures 1 to 9 The embodiment provides a technical scheme: an industrial inspection robot. The embodiment is substantially the same as embodiment one, and the difference lies in that:

[0064] The track stable attachment mechanism 5 comprises a track clamping power assembly, two bottom rods 55, a square guide rod 56, a compression spring 57, two bent plates 58, two attachment wheels 59, a track power motor 510 and two attachment annular grooves 511. The bottom ends of the seat plate 21 are fixedly connected with the two bottom rods 55. The bottom ends of the two bottom rods 55 are fixedly connected with the square guide rod 56 in the transverse direction. The two ends of the square guide rod 56 are slidably connected with the rectangular sliding holes in the two bent plates 58 respectively. The middle part of the square guide rod 56 is sleeved with the compression spring 57. The bottom ends of the two bent plates 58 are rotatably connected with the two vertical attachment wheels 59 respectively. The outer circumferential sides of the two attachment wheels 59 are provided with the two attachment annular grooves 511 respectively. The two attachment annular grooves 511 are rollingly matched with the top sides of the track main body 11 respectively. The top of the attachment wheel 59 is fixedly connected with 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 provided with the track clamping power assembly.

[0065] The track clamping power assembly can drive the two bent plates 58 to move close to each other along the square guide rod 56. At this time, the compression spring 57 is compressed. The two attachment annular grooves 511 on the two attachment wheels 59 are matched with the top sides of the track main body 11. The robot main body 2 can be prevented from being separated from the track main body 11. The track power motor 510 can drive the corresponding attachment wheel 59 to rotate. The track power motor 510 can provide power for the robot main body 2 to move on the track main body 11. When it is needed to leave the track main body 11, the track clamping power assembly is separated from the two bent plates 58. The compression spring 57 drives 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 main body 11.

[0066] The track clamping power assembly comprises two vertical sliding rods 51, a top rod 52, a vertical electric telescopic rod 53 and two control inclined surfaces 54. The rear end of the seat plate 21 is provided with two sliding rod holes in the left and right sides respectively. The two vertical sliding rods 51 are vertically and slidably connected in the two sliding rod holes respectively. The top parts of the two vertical sliding rods 51 are fixedly connected with the two ends of the top rod 52 through screws. The rear end of the seat plate 21 is installed with the vertical electric telescopic rod 53 on the upper side. The top part of the vertical electric telescopic rod 53 is connected with the middle part of the top rod 52. The bottom ends of the two vertical sliding rods 51 are provided with the two control inclined surfaces 54 respectively on the sides close to each other. The two control inclined surfaces 54 are frictionally connected with the top parts of the two bent plates 58 respectively on the sides away from each other.

[0067] The shortening of the vertical electric telescopic rod 53 can drive the top rod 52 and the vertical sliding rods 51 to descend. The two vertical sliding rods 51 can press the two bent plates 58 to move close to each other along the square guide rod 56 through the two control inclined surfaces 54. The lengthening of the vertical electric telescopic rod 53 can drive the top rod 52 and the vertical sliding rods 51 to ascend. The two vertical sliding rods 51 can be separated from the two bent plates 58.

[0068] Since the traveling power mechanism 6 may not be in contact with the ground soon after it is disengaged from the off-track section of the track body 11, the track stable adhesion mechanism 5 is arranged to push the robot body 2 to move continuously along the off-track section of the track body 11, and when the robot body 2 is repositioned on the inspection track 1, the track stable adhesion mechanism 5 is first engaged with the off-track section of the track body 11, which facilitates the robot body 2 to move up and down the inspection track 1 stably.

[0069] Embodiment three, please refer to Figures 1 to 9 The embodiment provides a technical scheme: an industrial inspection robot, and the embodiment is a further explanation of the structure of embodiment two.

[0070] The follow-up vision mechanism 7 comprises a vertical rod 71, a vertical cylinder 72, a follow-up camera 73, a circular cover 74, a follow-up ring 75 and a follow-up rod 76, the top end of the steering shaft 612 is fixedly connected with the vertical rod 71, the vertical rod 71 is vertically sleeved with the vertical cylinder 72 at the top, the outer periphery of the bottom of the vertical cylinder 72 is rotatably sleeved with the follow-up ring 75, the follow-up ring 75 is connected with the top rod 52 through the follow-up rod 76, the top end of the vertical cylinder 72 is installed with the follow-up camera 73, the end of the follow-up camera 73 is arranged towards the rear side, and the top of the follow-up camera 73 is installed with the circular cover 74 corresponding to the circular hole. When the robot body 2 is on the track body 11, since it travels along the track body 11 according to a predetermined track, the field of vision of the traveling direction does not need to be provided, and at this time, the vertical electric telescopic rod 53 is in a shortened state, at this time, the vertical cylinder 72 moves upward with respect to the vertical rod 71 as the top of the vertical electric telescopic rod 53 moves downward, at this time, the circular cover 74 closes the circular hole, maintaining the flush state of the top of the robot body 2, when the robot body 2 travels on the ground, the vertical electric telescopic rod 53 is elongated to make the two adhesion wheels 59 disengage from the track body 11, the vertical electric telescopic rod 53 continues to be elongated, the vertical cylinder 72 is driven to move upward with respect to the vertical rod 71 through the follow-up rod 76 and the follow-up ring 75, so that the follow-up camera 73 can be extended out of the circular hole, at this time, the follow-up camera 73 faces the rear, and the robot body 2 also travels rearward on the ground, the follow-up camera 73 provides the field of vision of the traveling direction, which facilitates to avoid obstacles, when the steering power assembly controls the direction control disc 61 and the steering shaft 612 to turn, the steering shaft 612 also drives the follow-up camera 73 to turn through the vertical rod 71 and the vertical cylinder 72, so that the follow-up camera 73 always faces the direction to be traveled.

[0071] It is worth noting that the controller 29 disclosed in the above embodiments controls the panoramic camera 27, the control motor 37, the folding electric telescopic rod 47, the steering motor 614, the swing electric telescopic rod 69, the extension motor 815, the rotation 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 to work, respectively, and the control method thereof adopts the method commonly used in the prior art, wherein the steering motor 614, the control motor 37, the extension motor 815, the rotation motor 94, the torsion motor 97 and the track power motor 510 all adopt servo motors.

[0072] It is to be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms "comprises", "comprising", or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article, or apparatus.

[0073] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application 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), the track body (11) comprises an aerial inspection section, an inclined section and a floor section, the aerial inspection section and the floor section are both horizontally arranged, side guide grooves (12) are arranged on both sides of the track body (11), and a convex strip (13) is arranged on the top of the track body (11), characterized in that, Also include: Robot body (2) containing the seat plate (21), the top edge of the seat plate (21) is fixedly connected with the side shell (22), the top of the side shell (22) is detachably installed with the 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; Wheel track synchronous control mechanism (3) is installed at the bottom of the seat plate (21), and the two ends of the wheel track synchronous control mechanism (3) are respectively provided with two folding travel mechanisms (4); Travel power mechanism (6) is installed on the seat plate (21), and the top of the travel power mechanism (6) is provided with a follow-up vision mechanism (7), which is arranged corresponding to the circular hole; The inspection component extension mechanism (8) is installed on the seat plate (21), and the inspection component extension mechanism (8) is arranged corresponding to the side notch (25), and the inspection component extension mechanism (8) is connected with the inspection mechanism (9); The wheel track synchronous control mechanism (3) drives the two folding travel mechanisms (4) to approach each other, so that the folding travel mechanisms (4) are in rolling fit with the side guide grooves (12) on both sides of the track body (11), the travel power mechanism (6) is in rolling fit with the convex strip (13) on the track body (11), and the travel power mechanism (6) works to make the robot body (2) travel along the track body (11).

2. The industrial inspection robot of claim 1, wherein: The wheel track synchronous control mechanism (3) comprises an installation plate (31), an arch-shaped frame (32), an opposite synchronous moving assembly and a bent frame (36), the bottom front end of the seat plate (21) is fixedly connected with the arch-shaped frame (32) through the installation plate (31), and the arch-shaped frame (32) is connected with the two bent frames (36) through the opposite synchronous moving assembly.

3. The industrial inspection robot of claim 2, wherein: The folding travel mechanism (4) comprises a folding electric telescopic rod (47), the top ends of the two bent frames (36) are fixedly connected with the top ends of two vertical rods (41), the bottom ends of the two vertical rods (41) are movably connected with one end of two folding rods (43) through longitudinal folding shafts (42), the other ends of the two folding rods (43) are fixedly connected with two wheel frames (44), respectively, two guide wheels (45) are rotatably connected in the two wheel frames (44), respectively, the two guide wheels (45) are in rolling connection with the two side guide grooves (12), respectively, one side of the two vertical rods (41) approaching each other is fixedly connected with two movable seats (46), respectively, one end of the two folding electric telescopic rods (47) is movably connected with the two movable seats (46), respectively, one side of the two folding rods (43) approaching each other is fixedly connected with two movable seats (48), respectively, the other end of the corresponding two folding electric telescopic rods (47) is movably connected with the two movable seats (48), respectively.

4. The industrial inspection robot of claim 1, wherein: The traveling power mechanism (6) comprises a comprehensive power motor (67), a swing control assembly and a steering power assembly, the rear end of the seat plate (21) is rotationally connected with a vertical steering shaft (612) through a bearing (611), the top outer circumferential side of the steering shaft (612) is connected with the steering power assembly, the bottom end of the steering shaft (612) is fixedly connected with the middle part of the direction control disc (61), the bottom center of the direction control disc (61) is fixedly connected with a movable seat three (62), the top end of the movable seat three (62) is movably connected with the swing rod (63), the bottom end of the swing rod (63) is fixedly connected with a wheel carrier two (64), the wheel carrier two (64) is rotationally connected with a power wheel (65) inside, one end of the power wheel (65) is fixedly connected with the output shaft of the comprehensive power motor (67), the comprehensive power motor (67) is installed on the side of the wheel carrier two (64), the bottom of the power wheel (65) is rollingly connected with the upper side of the track main body (11), the middle part of the outer circumferential side of the power wheel (65) is provided with an anti-off annular groove (66) matched with the convex strip (13), the bottom front side of the direction control disc (61) is connected with the front side of the swing rod (63) through the swing control assembly.

5. The industrial inspection robot of claim 4, wherein: The swing control assembly comprises a swing electric telescopic rod (69) and a movable seat five (610), the bottom front side of the direction control disc (61) is provided with a movable seat four (68), one end of the swing electric telescopic rod (69) is movably connected with the movable seat four (68), the front side of the swing rod (63) is fixedly connected with the movable seat five (610), the other end of the swing electric telescopic rod (69) is movably connected with the movable seat five (610).

6. The industrial inspection robot of claim 4, wherein: The track stable adhesion mechanism (5) comprises a track clamping power assembly, an adhesion wheel (59), a track power motor (510) and an adhesion annular groove (511), the bottom of the rear end of the seat plate (21) is fixedly connected with two bottom rods (55), the bottom of the two bottom rods (55) is fixedly connected with a transverse square guide rod (56), the two ends of the square guide rod (56) are respectively slidably connected with the rectangular sliding holes on the two bent plates (58), 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 rotationally connected with two vertical adhesion wheels (59), the outer circumferential sides of the two adhesion wheels (59) are respectively provided with two adhesion annular grooves (511), the two adhesion annular grooves (511) are respectively rollingly matched with the top two sides of the track main body (11), the top of the adhesion wheel (59) is fixedly connected with 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 the track clamping power assembly.

7. The industrial inspection robot of claim 6, wherein: The track clamping power assembly contains vertical slide rods (51), top rods (52), vertical electric telescopic rods (53) and control inclines (54), two slide rod holes are respectively arranged on the left and right sides of the rear end of the seat plate (21), two vertical slide rods (51) are vertically and slidably connected in the two slide rod holes, the top parts of the two vertical slide rods (51) are fixedly connected with the two ends of the top rods (52), the vertical electric telescopic rods (53) are installed on the upper side of the rear end of the seat plate (21), the top part of the vertical electric telescopic rod (53) is connected with the middle part of the top rod (52), the bottom ends of the two vertical slide rods (51) are respectively provided with two control inclines (54) on the sides close to each other, and the two control inclines (54) are respectively in frictional contact with the sides away from each other on the top parts of the two bent plates (58).

8. The industrial inspection robot of claim 7, wherein: The follow-up vision mechanism (7) contains a follow-up camera (73), the top end of the steering shaft (612) is fixedly connected with a vertical edge rod (71), the top part of the edge rod (71) is vertically and slidably sleeved with a vertical cylinder (72), the bottom part of the vertical cylinder (72) is rotatably sleeved with a follow-up ring (75), the follow-up ring (75) is connected with the top rod (52) through a follow-up rod (76), the top end of the vertical cylinder (72) is installed with the follow-up camera (73), and the top part of the follow-up camera (73) is installed with a circular cover (74) corresponding to the circular hole.

9. The industrial inspection robot of claim 1, wherein: The patrol component extension mechanism (8) contains a one-hundred-and-eighty-degree flipping assembly and an extension plate (814), the seat plate (21) is installed with the one-hundred-and-eighty-degree flipping assembly, one end of the one-hundred-and-eighty-degree flipping assembly is connected with the extension plate (814), the extension plate (814) is arranged in correspondence with the side notch (25), and the other end of the extension plate (814) is connected with the patrol component (9).

10. The industrial inspection robot of claim 9, wherein: The patrol component (9) contains a turnover plate (95), a torsion long plate (99), a turnover power assembly and a torsion power assembly, one end of the extension plate (814) away from the one-hundred-and-eighty-degree flipping assembly is connected with one end of the turnover plate (95) through the turnover power assembly, the other end of the turnover plate (95) is connected with the torsion long plate (99) through the torsion power assembly, and the side surfaces of the torsion long plate (99) are respectively installed with a patrol infrared probe (910) and a patrol camera (911).

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