Infrared obstacle avoidance structure and inspection robot

Abstract

The invention relates to the technical field of inspection robots, and discloses an infrared obstacle avoidance structure and an inspection robot, the infrared obstacle avoidance structure comprises an infrared obstacle avoidance sensor mounted at the front end of a robot body, the front end of the robot body is provided with a sliding opening, a storage cavity, a mounting groove, a sliding groove and an operation opening which are communicated, and the inner wall of the operation opening is provided with two connecting openings; the back face of the infrared obstacle avoidance sensor is fixedly connected into the mounting groove, a liquid storage assembly is connected into the containing cavity, the output end of the liquid storage assembly is connected with a liquid drainage assembly, the lower end of the liquid drainage assembly is connected with the upper surface of the infrared obstacle avoidance sensor, the liquid drainage assembly is located in the mounting groove, and a movable assembly is connected into the liquid drainage assembly. According to the infrared obstacle avoidance structure and the inspection robot, the cleaning assembly and the transmission assembly are arranged outside the infrared obstacle avoidance sensor, so that the surface of the infrared obstacle avoidance sensor can be wiped when impurities such as dust or sludge adhere to the surface of the infrared obstacle avoidance sensor, and the problem that the detection rate becomes poor due to adhesion of the dust or the sludge and the like is solved.

Description

Technical Field

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

[0002] Inspection robots are automated devices designed for specific environments and used to regularly inspect and monitor the status of facilities or equipment. In order to ensure that the robot can safely avoid obstacles and collisions when performing inspection tasks and ensure the smooth progress of inspection work, an infrared obstacle avoidance structure is often installed on the inspection robot. This structure usually combines an infrared transmitter and a receiver to determine whether there are obstacles ahead by detecting the reflection of infrared signals.

[0003] The patent with announcement number CN211415145U discloses a patrol robot, a robot body, an infrared obstacle avoidance sensor, a safety edge shock absorbing device, a driving wheel, a monitoring platform, an alarm light, a scanning radar, and a fixed bracket. The infrared obstacle avoidance sensor and the robot body are an integrated structure. The patrol robot is structurally moved forward by the driving wheel. The scanning radar on the robot body monitors the situation in front. When a situation occurs, the alarm light behind the scanning radar automatically emits an alarm light. At the same time, the infrared obstacle avoidance sensor installed in front of the robot body avoids obstacles in front, and the protective inner shell is squeezed downward by the force of the second spring to compress and deform the third spring. The impact force on the robot is removed layer by layer through the above device, which protects the safety of the internal parts of the robot and enables the robot to operate safely.

[0004] However, the above-mentioned inspection robots mainly rely on infrared obstacle avoidance sensors to avoid obstacles ahead during the inspection process. However, infrared obstacle avoidance sensors are usually installed on the outside of the robot, which makes them susceptible to the influence of the external environment. In some environments, such as the dust in the mine or the silt in the grass, these dust and silt may adhere to the infrared obstacle avoidance sensors. When the sensor surface is contaminated, it may cause abnormal reflection of the signal, causing the sensor to misjudge that there is an obstacle ahead. In severe cases, pollutants may even completely block the emission and reception of infrared light, making the sensor unable to detect obstacles, and the infrared obstacle avoidance sensor of the inspection robot does not have an autonomous cleaning function, which seriously affects the use effect of the inspection robot. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an infrared obstacle avoidance structure and an inspection robot to solve the problem that the infrared obstacle avoidance sensor of the current inspection robot does not have an autonomous cleaning function and detection is easily affected.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an infrared obstacle avoidance structure and an inspection robot, comprising an infrared obstacle avoidance sensor installed at the front end of a robot body, the front end of the robot body being provided with a connecting slide, a storage cavity, a mounting groove, a slide groove and an operating port, the inner wall of the operating port being provided with two connecting ports, the back of the infrared obstacle avoidance sensor being fixedly connected in the mounting groove, the interior of the storage cavity being connected with a liquid storage component, the output end of the liquid storage component being connected with a liquid discharge component, the lower end of the liquid discharge component being connected with the upper surface of the infrared obstacle avoidance sensor, the liquid discharge component being located in the mounting groove, the interior of the liquid discharge component being connected with a movable component, one end of the movable component passing through the movable component to the outside of the movable component, and the end located outside the movable component being connected with a cleaning component, the other end of the cleaning component being connected with a transmission component, one end of the transmission component being located in one of the connecting ports, the other end of the transmission component being connected with a calibration component, and the other end of the calibration component being connected with the other connecting port.

[0007] Furthermore, the liquid storage assembly includes a connecting pipe, a sealing plug and a liquid storage tank. The outer wall of the liquid storage tank is fixedly connected to the inner wall of the storage cavity. The outer wall of the sealing plug is threadedly connected to the inner wall of the liquid filling port at the upper end of the liquid storage tank. The lower end of the connecting pipe is fixedly connected to the lower end of the liquid storage tank. The upper end of the connecting pipe is connected to one end of the drainage assembly. The connecting pipe, the liquid storage tank and the drainage assembly are internally connected.

[0008] Furthermore, the liquid discharge assembly includes a liquid storage box, two one-way valves, a plurality of protrusions, a plurality of lifting rods, a plurality of return springs and a plurality of circular pistons. The inner wall of the liquid storage box is provided with a U-shaped liquid storage cavity, the upper end of the connecting pipe is fixedly connected to the side wall of the liquid storage box, the two one-way valves are respectively installed at the corners of the lower end of the U-shaped liquid storage cavity and the connecting part of the connecting pipe, the bottom surface of the U-shaped liquid storage cavity is penetrated with a plurality of water flow holes, and the plurality of water flow holes are all located directly above the infrared obstacle avoidance sensor, the inner wall of the U-shaped liquid storage cavity is provided with a plurality of spring cavities, the lower ends of the plurality of return springs are respectively fixedly connected to the inner walls of the plurality of spring cavities, the upper ends of the plurality of return springs are respectively fixedly connected to the lower ends of the plurality of protrusions, the upper ends of the plurality of protrusions respectively penetrate the plurality of spring cavities and resist the movable assembly, the bottom surfaces of the plurality of protrusions are respectively fixedly connected to the upper ends of the plurality of lifting rods, the lower ends of the plurality of lifting rods respectively penetrate the plurality of return springs and the spring cavities, and are respectively fixedly connected to the upper ends of the plurality of circular pistons, and the outer walls of the plurality of circular pistons are respectively slidably connected to the inner walls of the plurality of water flow holes.

[0009] Furthermore, the movable component includes a rectangular piston, a pull rod, an inner rod and a top plate. The outer wall of the rectangular piston is slidably connected to the inner wall of the upper end of the U-shaped liquid storage chamber, one side of the rectangular piston is fixedly connected to one end of the pull rod, one end of the inner rod is fixedly connected to the top plate, the other end of the inner rod passes through the rectangular piston, the pull rod and the liquid storage box, and reaches the outside of the liquid storage box, and the end of the pull rod away from the rectangular piston also passes through the liquid storage box and reaches the outside of the liquid storage box, and the ends of the inner rod and the pull rod located outside the liquid storage box are both connected to the cleaning component, the outer wall of the inner rod is slidably connected to the inner wall of the rectangular piston and the pull rod, and both sides of the end of the rectangular piston away from the robot body are provided with abutments, and the inner walls of the two abutments abut against the curved outer walls of the upper ends of a number of protrusions.

[0010] Furthermore, the cleaning component includes a wiping cotton, a bottom block, a support plate, an L-shaped connecting rod and an L-shaped connecting plate, one end of the L-shaped connecting rod is fixedly connected to one end of the inner rod passing through the liquid storage box, and this end of the L-shaped connecting rod also abuts against one end of the pull rod passing through the liquid storage box, the other end of the L-shaped connecting rod is fixedly connected to one end of the L-shaped connecting plate, the other end of the L-shaped connecting plate is fixedly connected to the upper end of the support plate, the lower end of the support plate is fixedly connected to the upper end of the bottom block, the side of the support plate close to the infrared obstacle avoidance sensor is fixedly connected to the wiping cotton, the other side of the wiping cotton abuts against the surface of the infrared obstacle avoidance sensor, and the bottom block is connected to the transmission component.

[0011] Furthermore, the transmission assembly includes a moving motor, an active rod, a circular gear, a rack plate, a screw rod, an active bevel gear and a positioning rod. The outer wall of one end of the positioning rod is fixedly connected to the inner wall of the bottom block, the outer wall of the other end of the positioning rod is fixedly connected to the inner wall of one end of the rack plate, the side wall of the rack plate abuts against the operating port, the outer wall of the moving motor is fixedly connected to the inner wall of the storage chamber, the output end of the moving motor is fixedly connected to one end of the screw rod, the other end of the screw rod penetrates the rack plate and is rotatably connected to the inner wall of the operating port, the outer wall of the screw rod is threadedly connected to the inner wall of the rack plate, one end of the active rod is rotatably connected to the inner wall of the connecting port away from the storage chamber, the other end of the active rod penetrates the circular gear and one end of the calibration assembly, and is fixedly connected to the active bevel gear, the inner wall of the circular gear is fixedly connected to the outer wall of the active rod, the active bevel gear is connected to the calibration assembly, and the rack plate meshes with the circular gear.

[0012] Furthermore, the calibration assembly includes a protective cover, a rotating plate, a calibration plate, a base plate, an auxiliary rod, a rotating block, a rotating rod and a driven bevel gear. The inner walls at both ends of the base plate are penetrated with transmission ports, the inner wall at one end of the protective cover is provided with a gear cavity, one end of the auxiliary rod is fixedly connected to the inner wall of the connecting port close to the storage cavity, the outer wall of the other end of the auxiliary rod is fixedly connected to the inner wall of one of the transmission ports, the outer wall of the active rod is rotatably connected to the inner wall of the other transmission port, the outer wall of the protective cover is fixedly connected to the side of the base plate away from the robot body, and the rotating block is The lower end is fixedly connected to the upper surface of the base plate near one end of the auxiliary rod, the rotating block is sleeved and rotatably connected to the outer wall of one end of the rotating rod, the other end of the rotating rod passes through the rotating plate and the protective cover to the inside of the gear cavity, the outer wall of the rotating rod is fixedly connected to the inner wall of the rotating plate, the end of the rotating rod located inside the gear cavity is fixedly connected to the driven bevel gear, the driven bevel gear is meshed with the active bevel gear and both are located in the gear cavity, the end of the rotating plate away from the rotating rod is fixedly connected to one end of the calibration plate, and the length and width of the calibration plate match the length and width of the infrared obstacle avoidance sensor.

[0013] The present invention also provides an inspection robot, comprising a robot body and any one of the above-mentioned infrared obstacle avoidance structures, wherein one end of the robot body close to the infrared obstacle avoidance sensor is connected to a shielding component and an anti-collision component, and one end of the infrared obstacle avoidance sensor, a liquid storage component, a liquid discharge component, a movable component, a cleaning component and a transmission component are all located between the shielding component and the robot body, and the other end of the transmission component and the calibration component are both located between the shielding component and the anti-collision component.

[0014] Furthermore, the anti-collision component includes a collision rod and two collision columns, one end of the two collision columns are fixedly connected to the outer wall of the front end of the robot body, and the other ends of the two collision columns are respectively fixedly connected to the two ends of the two collision rods.

[0015] Furthermore, the shielding assembly includes a lower baffle shell, an upper baffle shell, a leakage net and two support bars. The outer wall of one end of the leakage net is fixedly connected to the inner wall of the lower end of the lower baffle shell, and the other end of the leakage net is against the outer wall of the front end of the robot body. The upper end of the lower baffle shell is fixedly connected to the lower end of the upper baffle shell, and the two sides of the upper baffle shell are respectively fixedly connected to the two support bars. The side walls of the two support bars are fastened to the front end of the robot body by bolts, and an opening is opened through the middle of the upper baffle shell, and the length and width of the opening match the length and width of the infrared obstacle avoidance sensor.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This infrared obstacle avoidance structure and inspection robot, by arranging a cleaning component and a transmission component on the outside of the infrared obstacle avoidance sensor, can wipe the surface of the infrared obstacle avoidance sensor when dust, silt or other debris adheres to the surface, thereby solving the problem of poor detection rate caused by the adhesion of dust, silt and the like;

[0018] 2. This infrared obstacle avoidance structure and inspection robot, by arranging a liquid discharge component and a liquid storage component on the outside of the infrared obstacle avoidance sensor, can flow cleaning liquid toward the surface of the infrared obstacle avoidance sensor when the cleaning component cleans the surface of the infrared obstacle avoidance sensor, thereby improving the cleaning efficiency;

[0019] 3. This infrared obstacle avoidance structure and inspection robot, by arranging a movable component inside the liquid discharge component and connecting the other end of the movable component to the cleaning component, can automatically flow out the cleaning liquid during the movement of the cleaning component, and will seal itself after the cleaning component passes through, which can not only save the cleaning liquid, but also prevent the cleaning liquid from affecting the surface of the infrared obstacle avoidance sensor;

[0020] 4. This infrared obstacle avoidance structure and inspection robot, by connecting the calibration component to the other end of the transmission component, can also calibrate the accuracy of the infrared obstacle avoidance sensor through the calibration component during the process of the cleaning component moving to clean the surface of the infrared obstacle avoidance sensor, thereby enabling the robot body to more quickly determine whether the surface of the infrared obstacle avoidance sensor needs to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall appearance of the calibration component of the present invention after being unfolded;

[0022] Figure 2 This is a schematic diagram of the overall appearance of the calibration component of the present invention after being closed;

[0023] Figure 3 This is a schematic diagram of the overall appearance of the robot body of the present invention;

[0024] Figure 4 It is a detailed connection diagram of the infrared obstacle avoidance sensor, the shielding component and the calibration component of the present invention;

[0025] Figure 5 For the present invention Figure 4 Schematic diagram of the overall appearance of the back of each component;

[0026] Figure 6 For the present invention Figure 5 A schematic diagram of each component from another perspective;

[0027] Figure 7 For the present invention Figure 4 Schematic diagram of the overall appearance of each component after removing the blocking components;

[0028] Figure 8 It is a detailed connection diagram of the calibration component and the transmission component of the present invention;

[0029] Fig. 9 For the present invention Figure 7 Exploded diagram of each component in the diagram;

[0030] Fig.10 It is a detailed connection diagram of the liquid storage component, the liquid discharge component and the cleaning component of the present invention;

[0031] Fig.11 For the present invention Fig.10 The enlarged schematic diagram of point A in the middle;

[0032] Fig.12 It is a cross-sectional schematic diagram of the liquid storage box of the present invention;

[0033] Fig.13 For the present invention Fig.12 The enlarged schematic diagram of point B in the middle;

[0034] Fig.14 It is an exploded schematic diagram of the movable assembly, cleaning assembly and transmission assembly of the present invention;

[0035] Fig.15 It is a cross-sectional schematic diagram of the liquid storage box of the present invention from another viewing angle.

[0036] In the figure: 1. Robot body; 2. Infrared obstacle avoidance sensor; 3. Impact column; 4. Impact rod; 5. Protective cover; 6. Rotating plate; 7. Calibration plate; 8. Support plate; 9. Lower baffle; 10. Upper baffle; 11. Slide; 12. Storage cavity; 13. Mounting slot; 14. Slide; 15. Opening; 16. Liquid storage box; 17. Support bar; 18. Moving motor; 19. Connecting pipe; 20. Sealing plug; 21. Liquid storage tank; 22. Leakage net; 23. Active rod; 24. Circular gear; 25. Rack plate; 26. Wiping cotton; 27. Screw rod; 28. Bottom block ; 29. ​​Support plate; 30. L-shaped connecting rod; 31. L-shaped connecting plate; 32. Auxiliary rod; 33. Rotating block; 34. Rotating rod; 35. Active bevel gear; 36. Driven bevel gear; 37. Gear cavity; 38. Transmission port; 39. Bump; 40. U-shaped liquid storage cavity; 41. One-way valve; 42. Lifting rod; 43. Rectangular piston; 44. Butt mouth; 45. Pull rod; 46. Reset spring; 47. Spring cavity; 48. Circular piston; 49. Positioning rod; 50. Water flow hole; 51. Operation port; 52. Connecting port; 53. Inner rod; 54. Top plate. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0038] See also Figure 1-Figure 15, an infrared obstacle avoidance structure and an inspection robot, comprising an infrared obstacle avoidance sensor 2 installed at the front end of a robot body 1, the front end of the robot body 1 is provided with a connecting slide 11, a storage cavity 12, a mounting groove 13, a slide groove 14 and an operation port 51, the inner wall of the operation port 51 is provided with two connecting ports 52, the back of the infrared obstacle avoidance sensor 2 is fixedly connected to the mounting groove 13, the interior of the storage cavity 12 is connected with a liquid storage component, the output end of the liquid storage component is connected with a liquid discharge component, the lower end of the liquid discharge component is connected to the upper surface of the infrared obstacle avoidance sensor 2, the liquid discharge component is located in the mounting groove 13, the interior of the liquid discharge component is connected with a movable component, one end of the movable component passes through the movable component to the outside of the movable component, and the end located outside the movable component is connected with a cleaning component, the other end of the cleaning component is connected with a transmission component, one end of the transmission component is located in one of the connecting ports 52, the other end of the transmission component is connected with a calibration component, and the other end of the calibration component is connected to the other connecting port 52.

[0039] The infrared obstacle avoidance structure and the inspection robot in the present invention are similar to the existing infrared obstacle avoidance structure and the inspection robot structure, such as the inspection robot disclosed in the patent with the announcement number CN211415145U. Figures 1 to 15 As shown, the infrared obstacle avoidance structure and the inspection robot of the present invention can be used in the following steps:

[0040] 1. During normal inspection of the robot body 1, the transmission component will push the cleaning component to the end of the robot body 1 away from the storage chamber 12, and then the cleaning component will also push the movable component to the end away from the storage chamber 12 (and the inside of the drainage component is filled with cleaning liquid at this time). At the same time, the transmission component will also buckle the calibration component to prevent it from affecting the normal operation of the infrared obstacle avoidance sensor 2.

[0041] 2. When the robot body 1 walks to an area with a lot of dust or grass that may be sticky with mud (of course, it may also be that there is a lot of water vapor causing dust to stick to the infrared obstacle avoidance sensor 2, which is not limited to the specific situation), the surface of the infrared obstacle avoidance sensor 2 will be blocked by external impurities. When this part of the impurities reaches a certain level, it may affect the detection accuracy of the infrared obstacle avoidance sensor 2.

[0042] 3. At this time, when the internal controller of the robot body 1 recognizes that it has been in the above environment for a certain period of time, which may affect its own accuracy (this can be set in advance through the program), the internal controller of the robot body 1 starts the transmission component.

[0043] 4. After the transmission component is started, the output end will control the cleaning component to move from the end originally far away from the storage chamber 12 to the end of the storage chamber 12.

[0044] 5. During the movement of the cleaning component, the following two situations may occur:

[0045] ①: A: The movement of the cleaning component will cause the movable component to move from the inside of the drainage component toward the storage chamber 12.

[0046] B: While the movable component moves along the inside of the discharge component, the cleaning liquid originally located inside the discharge component will be discharged onto the infrared obstacle avoidance sensor 2. Then, during the movement of the cleaning component, the surface of the infrared obstacle avoidance sensor 2 will be cleaned and wiped with the help of the cleaning liquid.

[0047] C: After the cleaning component moves to the end of the infrared obstacle avoidance sensor 2 close to the storage chamber 12, the entire surface of the infrared obstacle avoidance sensor 2 has been wiped, and then the transmission component controls the cleaning component to return to the original path.

[0048] D: During the return process, the cleaning component will form a negative pressure inside the drain component, and then new cleaning liquid can be absorbed from the liquid storage component into the drain component for storage until the next use.

[0049] ②: A: When the cleaning component moves, it will cause another part of the transmission component to rotate (converting linear motion into circular motion).

[0050] B: When the transmission component rotates, the calibration component originally buckled below will be rotated upward, so that the calibration component and the infrared obstacle avoidance sensor 2 are in a parallel state.

[0051] C: While the cleaning component is cleaning the surface of the infrared obstacle avoidance sensor 2, the infrared obstacle avoidance sensor 2 can normally generate infrared rays to detect the distance between itself and the calibration component.

[0052] D: Because the distance between the infrared obstacle avoidance sensor 2 and the calibration component is fixed, when the infrared obstacle avoidance sensor 2 detects that the distance between the two is within the set error range, the cleaning can be stopped. On the contrary, if it is detected that the distance between the two exceeds the error range, the cleaning can be continued according to the above steps until it reaches the error range.

[0053] E: If after multiple (this can be set in advance by the program, such as 3 or 5 cycles, etc., without specific limitation) cycle cleanings, the set standard is still not met, the internal controller of the robot body 1 transmits this data to the external terminal, and the maintenance personnel conduct physical maintenance.

[0054] Special mention should be made here:

[0055] 1. When the calibration component is calibrated with the infrared obstacle avoidance sensor 2, because there is a certain distance between the cleaning component and the infrared obstacle avoidance sensor 2, the calibration component can be turned up before the cleaning component moves to contact the infrared obstacle avoidance sensor 2. While the calibration component is turned up, the infrared obstacle avoidance sensor 2 can perform a calibration test. In this way, if the detected value is within the error range, cleaning is not required. Otherwise, repeat the above steps.

[0056] 2. When cleaning the surface of the infrared obstacle avoidance sensor 2 and calibrating the infrared obstacle avoidance sensor 2, you can directly clean and calibrate without stopping if the conditions are met (for example, one cleaning and calibration takes 30 seconds, and the robot body 1 can move 5 meters within 30 seconds. At this time, the robot body 1 detects that there are no obstacles within at least 6 meters in front), thereby improving the inspection efficiency.

[0057] 3. Before the robot body 1 performs the inspection task, an appropriate amount of cleaning liquid can be stored in the liquid storage component in advance (for example, the maintenance personnel determine the amount of dust or sludge in the inspection task area in advance, or make a judgment based on the inspection time, without specific limitation).

[0058] As a preferred embodiment of the present invention, the liquid storage assembly includes a connecting pipe 19, a sealing plug 20 and a liquid storage tank 21. The outer wall of the liquid storage tank 21 is fixedly connected to the inner wall of the storage chamber 12, the outer wall of the sealing plug 20 is threadedly connected to the inner wall of the liquid filling port located at the upper end of the liquid storage tank 21, the lower end of the connecting pipe 19 is fixedly connected to the lower end of the liquid storage tank 21, the upper end of the connecting pipe 19 is connected to one end of the discharge assembly, and the connecting pipe 19, the liquid storage tank 21 and the discharge assembly are internally connected.

[0059] More specifically, before inspecting the robot body 1, the maintenance personnel open the sealing plug 20 in advance. After the sealing plug 20 is opened, the external cleaning liquid is added into the liquid storage tank 21 from the filling port of the liquid storage tank 21. When the movable component moves inside the drainage component to generate negative pressure, the cleaning liquid inside the liquid storage tank 21 can be discharged into the drainage component through the connecting pipe 19.

[0060] As a preferred embodiment of the present invention, the liquid discharge assembly includes a liquid storage box 16, two one-way valves 41, a plurality of protrusions 39, a plurality of lifting rods 42, a plurality of return springs 46 and a plurality of circular pistons 48. The inner wall of the liquid storage box 16 is provided with a U-shaped liquid storage chamber 40. The upper end of the connecting pipe 19 is fixedly connected to the side wall of the liquid storage box 16. The two one-way valves 41 are respectively installed at the corners of the lower end of the U-shaped liquid storage chamber 40 and the connecting part of the connecting pipe 19. The bottom surface of the U-shaped liquid storage chamber 40 is penetrated with a plurality of water flow holes 50. The plurality of water flow holes 50 are all located directly above the infrared obstacle avoidance sensor 2. The inner wall of the U-shaped liquid storage chamber 40 is provided with There are a plurality of spring cavities 47, the lower ends of a plurality of return springs 46 are fixedly connected to the inner walls of the plurality of spring cavities 47, the upper ends of a plurality of return springs 46 are fixedly connected to the lower ends of a plurality of protrusions 39, the upper ends of a plurality of protrusions 39 penetrate the plurality of spring cavities 47, and abut against the movable components, the bottom surfaces of a plurality of protrusions 39 are fixedly connected to the upper ends of a plurality of lifting rods 42, the lower ends of a plurality of lifting rods 42 penetrate the plurality of return springs 46 and the spring cavities 47, and are fixedly connected to the upper ends of a plurality of circular pistons 48, and the outer walls of the plurality of circular pistons 48 are slidably connected to the inner walls of a plurality of water flow holes 50.

[0061] More specifically, when the movable assembly follows the cleaning assembly to move toward the receiving chamber 12, the movable assembly will compress the plurality of protrusions 39 one by one, and while being compressed, the plurality of protrusions 39 will compress the return spring 46 and the lifting rod 42 downward, and the lifting rod 42 will slide the circular piston 48 out of the water flow hole 50 while descending, so that the water flow hole 50 can be leaked out, and because of the movement of the movable assembly, the storage space in the U-shaped liquid storage chamber 40 will be gradually compressed and reduced, so that the cleaning liquid in the U-shaped liquid storage chamber 40 can be pushed from the one-way valve 41 in the U-shaped liquid storage chamber 40 to the bottom of the U-shaped liquid storage chamber 40 (the U-shaped liquid storage chamber 40 is a lying U-shape, which can be seen in detail Fig.13 ), and because the circular piston 48 is opened, the cleaning liquid in the U-shaped liquid storage chamber 40 will flow out from the water flow hole 50 and just flow to the surface of the infrared obstacle avoidance sensor 2, so that the cleaning component can be cleaned conveniently.

[0062] When the movable component starts to return from the direction of the storage chamber 12, the cleaning liquid in the U-shaped liquid storage chamber 40 is lost. Therefore, during the movement of the movable component, the cleaning liquid is extracted from the connecting tube 19 with the help of the one-way valve 41 between the connecting tube 19 and the U-shaped liquid storage chamber 40, and then the cleaning liquid in the liquid storage tank 21 can be replenished into the U-shaped liquid storage chamber 40 for the next use.

[0063] Special mention should be made here:

[0064] 1. The diameter of the lifting rod 42 is smaller than the diameter of the water flow hole 50.

[0065] 2. Because the plurality of water holes 50 are individually controlled by the plurality of circular pistons 48, when the movable component passes through the protrusion 39, the reset spring 46 can push the protrusion 39 and the circular piston 48 back to their original positions to seal the water holes 50. After the cleaning component passes through, the cleaning liquid will not flow out of the previous water holes 50 again. This can not only save the cleaning liquid, but also prevent the cleaning liquid from affecting the surface of the infrared obstacle avoidance sensor 2.

[0066] 3. The general working principle of the one-way valve 41 is to set a resistance on one side of the one-way valve 41, so that the elastic sheet of the one-way valve 41 can only be expanded to one side but not to the other side, so that the cleaning liquid can only move in one direction. Since the one-way valve 41 is a very mature technology, it will not be described in detail here.

[0067] As a preferred embodiment of the present invention, the movable component includes a rectangular piston 43, a pull rod 45, an inner rod 53 and a top plate 54. The outer wall of the rectangular piston 43 is slidably connected to the inner wall of the upper end of the U-shaped liquid storage chamber 40, one side of the rectangular piston 43 is fixedly connected to one end of the pull rod 45, one end of the inner rod 53 is fixedly connected to the top plate 54, the other end of the inner rod 53 passes through the rectangular piston 43, the pull rod 45 and the liquid storage box 16, and reaches the outside of the liquid storage box 16, and the end of the pull rod 45 away from the rectangular piston 43 also passes through the liquid storage box 16 and reaches the outside of the liquid storage box 16, and the ends of the inner rod 53 and the pull rod 45 located outside the liquid storage box 16 are both connected to the cleaning component, the outer wall of the inner rod 53 is slidably connected to the inner wall of the rectangular piston 43 and the pull rod 45, and both sides of the end of the rectangular piston 43 away from the robot body 1 are provided with abutments 44, and the inner walls of the two abutments 44 abut against the curved outer walls of the upper ends of several protrusions 39.

[0068] More specifically, when the cleaning component moves toward the storage chamber 12, it will first pull the inner rod 53 to move together, and after the inner rod 53 moves, it can move with the top plate 54. When the top plate 54 moves a certain distance and abuts against the rectangular piston 43 (the certain distance here refers to the time before the cleaning component moves from the side to contact the infrared obstacle avoidance sensor 2), the rectangular piston 43 will be pushed by the top plate 54 to move together in the U-shaped liquid storage chamber 40, and then the rectangular piston 43 will push the pull rod 45 to move together, and then the abutment 44 and the protrusion 39 can be squeezed to achieve the purpose of opening and closing the water flow hole 50.

[0069] When the cleaning component returns, the inner rod 53 moves first driven by the cleaning component. At this time, the top plate 54 is separated from the rectangular piston 43, and the rectangular piston 43 does not change the friction between itself and the U-shaped liquid storage chamber 40 (or it can move together without any problem). When the inner rod 53 moves a certain distance, the cleaning component is abutted against the pull rod 45. At this time, the cleaning component can push the pull rod 45 and the rectangular piston 43 to move together, and then can cooperate with the one-way valve 41 to draw new cleaning fluid from the connecting pipe 19 and the liquid storage tank 21 into the U-shaped liquid storage chamber 40.

[0070] As a preferred embodiment of the present invention, the cleaning assembly includes a wiping cotton 26, a bottom block 28, a support plate 29, an L-shaped connecting rod 30 and an L-shaped connecting plate 31. One end of the L-shaped connecting rod 30 is fixedly connected to one end of the inner rod 53 passing through the liquid storage box 16, and this end of the L-shaped connecting rod 30 is also abutted against one end of the pull rod 45 passing through the liquid storage box 16. The other end of the L-shaped connecting rod 30 is fixedly connected to one end of the L-shaped connecting plate 31, and the other end of the L-shaped connecting plate 31 is fixedly connected to the upper end of the support plate 29, and the lower end of the support plate 29 is fixedly connected to the upper end of the bottom block 28. The side of the support plate 29 close to the infrared obstacle avoidance sensor 2 is fixedly connected to the wiping cotton 26, and the other side of the wiping cotton 26 abuts against the surface of the infrared obstacle avoidance sensor 2, and the bottom block 28 is connected to the transmission assembly.

[0071] More specifically, when the transmission assembly is started, it will move with the bottom block 28. After the bottom block 28 moves, it can move in the same direction with the support plate 29, the wiping cotton 26, the L-shaped connecting plate 31 and the L-shaped connecting rod 30. When the L-shaped connecting rod 30 moves, it can first pull the inner rod 53 to move together, thereby realizing the above-mentioned steps. After the L-shaped connecting rod 30 returns, the L-shaped connecting rod 30 first pushes the inner rod 53 back to the pull rod 45 and the rectangular piston 43 for a distance. When the L-shaped connecting rod 30 is against the pull rod 45, it can push the pull rod 45 to move together.

[0072] Similarly, during the movement of the wiping cotton 26 , the cleaning liquid flowing out of the water flow hole 50 can be used to wipe and clean the surface of the infrared obstacle avoidance sensor 2 .

[0073] As a preferred solution of the present invention, the transmission assembly includes a mobile motor 18, an active rod 23, a circular gear 24, a rack plate 25, a screw rod 27, an active bevel gear 35 and a positioning rod 49, the outer wall of one end of the positioning rod 49 is fixedly connected to the inner wall of the bottom block 28, the outer wall of the other end of the positioning rod 49 is fixedly connected to the inner wall of one end of the rack plate 25, the side wall of the rack plate 25 is abutted against the operating port 51, the outer wall of the mobile motor 18 is fixedly connected to the inner wall of the storage chamber 12, and the output end of the mobile motor 18 is fixedly connected to one end of the screw rod 27. The other end of the screw rod 27 passes through the rack plate 25 and is rotatably connected to the inner wall of the operation port 51. The outer wall of the screw rod 27 is threadedly connected to the inner wall of the rack plate 25. One end of the active rod 23 is rotatably connected to the inner wall of the connection port 52 away from the storage chamber 12. The other end of the active rod 23 passes through the circular gear 24 and one end of the calibration component and is fixedly connected to the active bevel gear 35. The inner wall of the circular gear 24 is fixedly connected to the outer wall of the active rod 23. The active bevel gear 35 is connected to the calibration component. The rack plate (25) is meshed with the circular gear (24).

[0074] More specifically, when it is necessary to clean the surface of the infrared obstacle avoidance sensor 2, it is only necessary to start the moving motor 18 through the internal controller of the robot body 1. After the moving motor 18 is started, the output shaft can rotate against the screw rod 27, and after the screw rod 27 rotates, it can move with the rack plate 25 (because the rack plate 25 is against the operating port 51, it will not rotate itself). When the rack plate 25 moves, it can pull the bottom block 28 to move together through the positioning rod 49.

[0075] Similarly, when the rack plate 25 moves, the engagement between the rack plate 25 and the circular gear 24 can drive the circular gear 24 to rotate around the active rod 23 as the axis. When the active rod 23 rotates, the active bevel gear 35 at the other end can rotate in the same direction, thereby driving the calibration component to rotate.

[0076] Special mention should be made here:

[0077] The number of teeth of the rack plate 25 is only one-fourth of that of the circular gear 24. In this way, before the wiping cotton 26 moves to contact the infrared obstacle avoidance sensor 2, the rack plate 25 just rotates the circular gear 24 90°. In this way, when the infrared obstacle avoidance sensor 2 and the calibration component detect that the error value is within the range, the cleaning component can be directly controlled to return; and when it is detected that the error value is exceeded, the subsequent cleaning can be continued, and when the wiping cotton 26 wipes and cleans the surface of the infrared obstacle avoidance sensor 2, the rack plate 25 is disengaged from the circular gear 24, and the calibration component will not continue to rotate.

[0078] As a preferred solution of the present invention, the calibration assembly includes a protective cover 5, a rotating plate 6, a calibration plate 7, a base plate 8, an auxiliary rod 32, a rotating block 33, a rotating rod 34 and a driven bevel gear 36. The inner walls at both ends of the base plate 8 are penetrated with transmission ports 38, the inner wall at one end of the protective cover 5 is provided with a gear cavity 37, one end of the auxiliary rod 32 is fixedly connected to the inner wall of the connecting port 52 close to the storage cavity 12, the outer wall of the other end of the auxiliary rod 32 is fixedly connected to the inner wall of one of the transmission ports 38, the outer wall of the active rod 23 is rotatably connected to the inner wall of the other transmission port 38, and the outer wall of the protective cover 5 is fixedly connected to the side of the base plate 8 away from the robot body 1. The lower end of the rotating block 33 is fixedly connected to the upper surface of the bottom plate 8 near one end of the auxiliary rod 32, and the rotating block 33 is sleeved and rotatably connected to the outer wall of one end of the rotating rod 34. The other end of the rotating rod 34 passes through the rotating plate 6 and the protective cover 5 to the inside of the gear cavity 37. The outer wall of the rotating rod 34 is fixedly connected to the inner wall of the rotating plate 6, and the end of the rotating rod 34 located inside the gear cavity 37 is fixedly connected to the driven bevel gear 36. The driven bevel gear 36 is meshed with the active bevel gear 35 and both are located in the gear cavity 37. The end of the rotating plate 6 away from the rotating rod 34 is fixedly connected to one end of the calibration plate 7. The length and width of the calibration plate 7 match the length and width of the infrared obstacle avoidance sensor 2.

[0079] More specifically, when the active bevel gear 35 rotates, it can rotate with the driven bevel gear 36 through meshing. After the driven bevel gear 36 rotates, it can rotate with the rotating plate 6 through the rotating rod 34. When the rotating plate 6 rotates, the calibration plate 7 will be rotated together until the calibration plate 7 is matched and aligned with the infrared obstacle avoidance sensor 2 and then stops.

[0080] Special mention should be made here:

[0081] 1. The auxiliary rod 32, the bottom plate 8 and the rotating block 33 provide support and stability for the entire calibration assembly, ensuring that the calibration assembly will not tilt or fall.

[0082] 2. The protective cover 5 can provide protection and support for the active bevel gear 35 and the driven bevel gear 36, and is also relatively beautiful in appearance.

[0083] The present invention also provides an inspection robot, including a robot body 1 and the above-mentioned infrared obstacle avoidance structure. One end of the robot body 1 close to the infrared obstacle avoidance sensor 2 is connected to a shielding component and an anti-collision component. The infrared obstacle avoidance sensor 2, the liquid storage component, the liquid discharge component, the movable component, the cleaning component and one end of the transmission component are all located between the shielding component and the robot body 1, and the other end of the transmission component and the calibration component are both located between the shielding component and the anti-collision component.

[0084] More specifically, by setting up a shielding component, the infrared obstacle avoidance sensor 2, liquid storage component, liquid discharge component, movable component, cleaning component and transmission component can be shielded and protected. It is relatively beautiful in appearance and is not easily hit by foreign objects, thus reducing the probability of damage.

[0085] By providing an anti-collision component, a protection can be provided to the front end of the entire robot body 1, thereby preventing external impacts from directly acting on the calibration component and reducing the damage rate of the calibration component.

[0086] As a preferred solution of the present invention, the anti-collision component includes a collision rod 4 and two collision columns 3, one end of the two collision columns 3 is fixedly connected to the outer wall of the front end of the robot body 1, and the other end of the two collision columns 3 is fixedly connected to the two ends of the two collision rods 4 respectively.

[0087] More specifically, when an external object collides with the front end of the robot body 1, it will first hit the impact rod 4, and then this part of the impact force will act on the robot body 1 through the two impact columns 3, and will not directly act on the calibration component located between the impact rod 4 and the robot body 1, thereby reducing the damage rate of the calibration component.

[0088] As a preferred solution of the present invention, the shielding assembly includes a lower baffle shell 9, an upper baffle shell 10, a leakage net 22 and two support bars 17. The outer wall of one end of the leakage net 22 is fixedly connected to the inner wall of the lower end of the lower baffle shell 9, and the other end of the leakage net 22 is against the outer wall of the front end of the robot body 1. The upper end of the lower baffle shell 9 is fixedly connected to the lower end of the upper baffle shell 10, and the two sides of the upper baffle shell 10 are respectively fixedly connected to the two support bars 17. The side walls of the two support bars 17 are fastened to the front end of the robot body 1 by bolts. An opening 15 is opened through the middle of the upper baffle shell 10, and the length and width of the opening 15 match the length and width of the infrared obstacle avoidance sensor 2.

[0089] More specifically, by providing a lower baffle 9, an upper baffle 10, a leakage net 22 and two support bars 17, external objects can be prevented from directly falling or hitting the transmission assembly, cleaning assembly and other components located in the operating port 51 of the robot body 1, thereby reducing the damage rate of the transmission assembly, cleaning assembly and other components.

[0090] Special mention should be made here:

[0091] 1. The two support bars 17 are connected to the robot body 1 by bolts, so that the shielding component can be easily disassembled when the transmission component, cleaning component and other components need to be repaired.

[0092] 2. By providing the opening 15 on the upper baffle shell 10 , it is possible to avoid affecting the normal detection of the infrared obstacle avoidance sensor 2 .

[0093] 3. By providing a leakage net 22 at the bottom of the lower baffle 9, rainwater can be prevented from being retained between the lower baffle 9 and the robot body 1, and the heat of the transmission component when it is started can also be dissipated.

[0094] 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 infrared obstacle avoidance structure, comprising an infrared obstacle avoidance sensor (2) mounted at the front end of a robot body (1), characterized in that: The front end of the robot body (1) is provided with a connecting sliding port (11), a storage cavity (12), a mounting groove (13), a sliding groove (14) and an operating port (51); the inner wall of the operating port (51) is provided with two connecting ports (52); the back of the infrared obstacle avoidance sensor (2) is fixedly connected to the mounting groove (13); the interior of the storage cavity (12) is connected with a liquid storage component; the output end of the liquid storage component is connected with a liquid discharge component; the lower end of the liquid discharge component is connected with the upper surface of the infrared obstacle avoidance sensor (2); the liquid discharge component is located in the mounting groove (13); the interior of the liquid discharge component is connected with a movable component; one end of the movable component passes through the movable component to the outside of the movable component; and one end located outside the movable component is connected with a cleaning component; the other end of the cleaning component is connected with a transmission component; one end of the transmission component is located in one of the connecting ports (52); the other end of the transmission component is connected with a calibration component; and the other end of the calibration component is connected with another connecting port (52).

2. The infrared obstacle avoidance structure according to claim 1, characterized in that: The liquid storage assembly comprises a connecting pipe (19), a sealing plug (20) and a liquid storage box (21); the outer wall of the liquid storage box (21) is fixedly connected to the inner wall of the storage chamber (12); the outer wall of the sealing plug (20) is threadedly connected to the inner wall of a liquid filling port at the upper end of the liquid storage box (21); the lower end of the connecting pipe (19) is fixedly connected to the lower end of the liquid storage box (21); the upper end of the connecting pipe (19) is connected to one end of the liquid discharge assembly; the connecting pipe (19), the liquid storage box (21) and the liquid discharge assembly are internally communicated.

3. The infrared obstacle avoidance structure according to claim 2, characterized in that: The liquid discharge assembly comprises a liquid storage box (16), two one-way valves (41), a plurality of protrusions (39), a plurality of lifting rods (42), a plurality of return springs (46) and a plurality of circular pistons (48); the inner wall of the liquid storage box (16) is provided with a U-shaped liquid storage cavity (40); the upper end of the connecting pipe (19) is fixedly connected to the side wall of the liquid storage box (16); the two one-way valves (41) are respectively installed at the corner of the lower end of the U-shaped liquid storage cavity (40) and the connecting part of the connecting pipe (19); the bottom surface of the U-shaped liquid storage cavity (40) is provided with a plurality of water flow holes (50); the plurality of water flow holes (50) are all located directly above the infrared obstacle avoidance sensor (2); the inner wall of the U-shaped liquid storage cavity (40) is provided with a plurality of The spring chamber (47) comprises a plurality of return springs (46) whose lower ends are respectively fixedly connected to the inner walls of the plurality of spring chambers (47), whose upper ends are respectively fixedly connected to the lower ends of the plurality of protrusions (39), whose upper ends respectively penetrate the plurality of spring chambers (47) and abut against the movable components, whose bottom surfaces are respectively fixedly connected to the upper ends of the plurality of lifting rods (42), whose lower ends respectively penetrate the plurality of return springs (46) and the spring chamber (47) and are respectively fixedly connected to the upper ends of the plurality of circular pistons (48), and whose outer walls are respectively slidably connected to the inner walls of the plurality of water flow holes (50).

4. The infrared obstacle avoidance structure according to claim 3, characterized in that: The movable assembly comprises a rectangular piston (43), a pull rod (45), an inner rod (53) and a top plate (54); the outer wall of the rectangular piston (43) is slidably connected to the inner wall of the upper end of the U-shaped liquid storage chamber (40); one side of the rectangular piston (43) is fixedly connected to one end of the pull rod (45); one end of the inner rod (53) is fixedly connected to the top plate (54); the other end of the inner rod (53) passes through the rectangular piston (43), the pull rod (45) and the liquid storage box (16) and reaches the outside of the liquid storage box (16); and the pull rod (45) is away from the top plate (54). One end of the rectangular piston (43) also passes through the liquid storage box (16) and reaches the outside of the liquid storage box (16), and the ends of the inner rod (53) and the pull rod (45) located outside the liquid storage box (16) are connected to the cleaning component, the outer wall of the inner rod (53) and the inner wall of the rectangular piston (43) and the pull rod (45) are all slidably connected, and both sides of the end of the rectangular piston (43) away from the robot body (1) are provided with abutment (44), and the inner walls of the two abutment (44) abut against the arc outer walls of the upper ends of a plurality of protrusions (39).

5. The infrared obstacle avoidance structure according to claim 4, characterized in that: The cleaning assembly comprises a wiping cotton (26), a bottom block (28), a support plate (29), an L-shaped connecting rod (30) and an L-shaped connecting plate (31); one end of the L-shaped connecting rod (30) is fixedly connected to one end of the inner rod (53) passing through the liquid storage box (16), and this end of the L-shaped connecting rod (30) also abuts against one end of the pull rod (45) passing through the liquid storage box (16); the other end of the L-shaped connecting rod (30) is fixedly connected to one end of the L-shaped connecting plate (31); the other end of the L-shaped connecting plate (31) is fixedly connected to the upper end of the support plate (29); the lower end of the support plate (29) is fixedly connected to the upper end of the bottom block (28); the side of the support plate (29) close to the infrared obstacle avoidance sensor (2) is fixedly connected to the wiping cotton (26); the other side of the wiping cotton (26) abuts against the surface of the infrared obstacle avoidance sensor (2); and the bottom block (28) is connected to the transmission assembly.

6. The infrared obstacle avoidance structure according to claim 5, characterized in that: The transmission assembly comprises a mobile motor (18), an active rod (23), a circular gear (24), a rack plate (25), a screw rod (27), an active bevel gear (35) and a positioning rod (49), wherein the outer wall of one end of the positioning rod (49) is fixedly connected to the inner wall of the bottom block (28), the outer wall of the other end of the positioning rod (49) is fixedly connected to the inner wall of one end of the rack plate (25), the side wall of the rack plate (25) abuts against the operating port (51), the outer wall of the mobile motor (18) is fixedly connected to the inner wall of the storage chamber (12), the output end of the mobile motor (18) is fixedly connected to one end of the screw rod (27), and the screw rod (27) is fixedly connected to the inner wall of the rack plate (25). The other end of the screw rod (27) passes through the rack plate (25) and is rotatably connected to the inner wall of the operating port (51); the outer wall of the screw rod (27) is threadedly connected to the inner wall of the rack plate (25); one end of the active rod (23) is rotatably connected to the inner wall of the connecting port (52) away from the storage chamber (12); the other end of the active rod (23) passes through the circular gear (24) and one end of the calibration component and is fixedly connected to the active bevel gear (35); the inner wall of the circular gear (24) is fixedly connected to the outer wall of the active rod (23); the active bevel gear (35) is connected to the calibration component; and the rack plate (25) is meshed with the circular gear (24).

7. The infrared obstacle avoidance structure according to claim 6, characterized in that: The calibration assembly comprises a protective cover (5), a rotating plate (6), a calibration plate (7), a bottom plate (8), an auxiliary rod (32), a rotating block (33), a rotating rod (34) and a driven bevel gear (36). The inner walls at both ends of the bottom plate (8) are penetrated with transmission ports (38), the inner wall at one end of the protective cover (5) is provided with a gear cavity (37), one end of the auxiliary rod (32) is fixedly connected to the inner wall of a connection port (52) close to the storage cavity (12), the outer wall of the other end of the auxiliary rod (32) is fixedly connected to the inner wall of one of the transmission ports (38), the outer wall of the active rod (23) is rotatably connected to the inner wall of the other transmission port (38), the outer wall of the protective cover (5) is fixedly connected to the side of the bottom plate (8) away from the robot body (1), the rotating block (33) is fixedly connected to the inner wall of the other transmission port (38), the outer wall of the protective cover (5) is fixedly connected to the side of the bottom plate (8) away from the robot body (1), the rotating block (33) is fixedly connected to the inner wall of the other transmission port (38), the outer wall of the active rod (2 ... The lower end of the base plate (8) is fixedly connected to the upper surface of one end of the auxiliary rod (32), the rotating block (33) is sleeved and rotatably connected to the outer wall of one end of the rotating rod (34), the other end of the rotating rod (34) passes through the rotating plate (6) and the protective cover (5) to the inside of the gear cavity (37), the outer wall of the rotating rod (34) is fixedly connected to the inner wall of the rotating plate (6), the end of the rotating rod (34) located inside the gear cavity (37) is fixedly connected to the driven bevel gear (36), the driven bevel gear (36) is meshed with the active bevel gear (35) and both are located in the gear cavity (37), the end of the rotating plate (6) away from the rotating rod (34) is fixedly connected to one end of the calibration plate (7), and the length and width of the calibration plate (7) match the length and width of the infrared obstacle avoidance sensor (2).

8. A patrol robot, comprising a robot body (1), characterized in that: It also includes the infrared obstacle avoidance structure described in any of claims 1 to 7 above, wherein one end of the robot body (1) close to the infrared obstacle avoidance sensor (2) is connected to a shielding component and an anti-collision component, and one end of the infrared obstacle avoidance sensor (2), the liquid storage component, the liquid discharge component, the movable component, the cleaning component and the transmission component are all located between the shielding component and the robot body (1), and the other end of the transmission component and the calibration component are both located between the shielding component and the anti-collision component.

9. The inspection robot according to claim 8, characterized in that: The anti-collision component comprises a collision rod (4) and two collision columns (3), one end of each of the two collision columns (3) is fixedly connected to the outer wall of the front end of the robot body (1), and the other ends of the two collision columns (3) are respectively fixedly connected to the two ends of the two collision rods (4).

10. The inspection robot according to claim 8 or 9, characterized in that: The shielding component comprises a lower baffle shell (9), an upper baffle shell (10), a leakage net (22) and two support bars (17); the outer wall of one end of the leakage net (22) is fixedly connected to the inner wall of the lower end of the lower baffle shell (9); the other end of the leakage net (22) abuts against the outer wall of the front end of the robot body (1); the upper end of the lower baffle shell (9) is fixedly connected to the lower end of the upper baffle shell (10); the two sides of the upper baffle shell (10) are respectively fixedly connected to the two support bars (17); the side walls of the two support bars (17) are fastened to the front end of the robot body (1) by bolts; an opening (15) is provided through the middle of the upper baffle shell (10); the length and width of the opening (15) match the length and width of the infrared obstacle avoidance sensor (2).

Images