Safe charging switching device for tunnel inspection robot

Abstract

The invention discloses a tunnel inspection robot safety charging switching device which comprises a robot body, a battery is arranged in the robot body, a combustible gas sensor is installed on the top of the robot body, a dual-mode charging interface is installed on the side wall of the robot body, and the dual-mode charging interface is in butt joint with a dual-mode charging plug. A control panel is arranged in the robot main body; the dual-mode charging interface is composed of a wireless charging receiver and a wired charging interface, and the wireless charging receiver and the wired charging interface are electrically connected with a battery in the robot body. According to the tunnel inspection robot, the dual-mode charging plug is arranged to be matched with the dual-mode charging interface, so that the tunnel inspection robot has a wired charging mode and a wireless charging mode, combustible gas in a tunnel is monitored in real time through the combustible gas sensor, and a plugging mechanism and a wireless charging switch are matched; and the robot can be automatically switched to wireless charging when the combustible gas exceeds the standard.

Description

Technical Field

[0001] The invention discloses the field of charging switching, and in particular relates to a safe charging switching device for a tunnel inspection robot. Background Art

[0002] The tunnel inspection robot is a highly integrated automated device designed specifically for tunnel environments to significantly improve inspection efficiency and safety. Its core function is to conduct all-round, no-dead-angle real-time monitoring and data collection inside the tunnel through advanced equipment such as high-definition cameras, sensors, and robotic arms. These devices can accurately capture the tunnel structure status, environmental parameters (such as temperature, humidity, and gas concentration), and the operating conditions of facilities and equipment, and promptly discover and report potential safety hazards and faults.

[0003] Existing tunnel inspection robots have safety hazards. Traditional wired charging methods may generate sparks at the connectors, especially when the combustible gas in the tunnel exceeds the standard, which can easily cause serious consequences such as explosions or fires. Although wireless charging technology can avoid sparks, the charging efficiency is low, affecting overall work efficiency. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a safe charging switching device for a tunnel inspection robot to solve the problem of potential safety hazards when the traditional tunnel inspection robot is connected to a wire for charging in the above-mentioned background technology.

[0005] The present invention provides the following technical solution: a safe charging switching device for a tunnel inspection robot, comprising a robot body, a battery is arranged inside the robot body, a combustible gas sensor is installed on the top of the robot body, a dual-mode charging interface is installed on the side wall of the robot body, the dual-mode charging interface is connected to a dual-mode charging plug, and a control board is arranged inside the robot body; The dual-mode charging interface is composed of a wireless charging receiver and a wired charging interface, the wireless charging receiver and the wired charging interface are electrically connected to the battery inside the robot body, and a switch is connected in series between the wireless charging receiver and the battery of the robot body, and the switch is electrically connected to the control board; The dual-mode charging plug includes a plug assembly and a wireless charging transmitter. The plug assembly and the side wall of the wireless charging transmitter are fixedly connected through a fixing plate. The wired charging interface is composed of an interface assembly and a plug-in mechanism. A connector assembly is fixedly connected to the top of the fixing plate. The connector assembly is combined and connected with the output end of the plug assembly. A cover is installed on the back of the fixing plate, and the plug-in mechanism is docked with a control panel.

[0006] Furthermore, the plug-in mechanism and the connector assembly are provided with two, and are symmetrically connected at the top and bottom of the interface assembly and the connector assembly respectively.

[0007] Furthermore, the plug-in mechanism includes a fixed seat and a micro servo motor. The fixed seat is provided with an axial hole inside, and a pin barrel is slidably sleeved in the axial hole. A threaded shaft is threadedly sleeved in the inner cavity of the pin barrel, and the output end of the micro servo motor is fixedly connected to the threaded shaft. A convex strip is provided on the top of the pin barrel, and a groove is provided on the inner wall of the axial hole of the fixed seat. The convex strip is slidably sleeved in the groove, and the back end of the pin barrel is docked with the connector assembly. The micro servo motor is electrically connected to the control board through a relay and a contactor.

[0008] Furthermore, the connector assembly includes an outer solid shell, a pin hole is provided on the front side of the outer solid shell, a groove is provided on the top of the pin hole, rotary holes are provided on both sides of the inner wall of the groove, a flap is provided in the groove, bosses are provided on both sides of the flap, two bosses are movably sleeved in two rotary holes respectively, and the bosses are transmission connected to the inner walls of the rotary holes through torsion springs, a control rod assembly is provided at the back end of the flap that passes through the top of the outer solid shell, a hook tooth is provided at the bottom of the positive end of the flap, and the front side of the hook tooth is a downwardly inclined slope, and a hook groove matching the hook tooth is provided at the top of the threaded shaft.

[0009] Furthermore, the control rod assembly includes a pressing rod, the bottom end of which is fixedly connected to a tube sleeve, a sliding rod is movably sleeved in the inner cavity of the tube sleeve, a notch is provided at the back end of the flap, rail grooves are provided on both sides of the inner wall of the notch, and both ends of the sliding rod are slidably sleeved in the two rail grooves.

[0010] Furthermore, the interface assembly is composed of a ceramic shell and an interface end, the interface end is arranged inside the ceramic shell, the plug assembly is composed of a main plug and a ceramic insert, the ceramic insert is fixedly connected to the side wall of the main plug, the fixing plate is fixedly connected to the side wall of the main plug, and the back of the ceramic shell is provided with an insert extending to the interior, and the insert is adapted to the ceramic insert.

[0011] Furthermore, the inner wall of the ceramic shell inlay opening is also provided with an outward expansion groove, and a plurality of arc-extinguishing choppers are fixedly connected to the inner wall of the outward expansion groove, and the distance between two adjacent arc-extinguishing choppers is 2 to 5 millimeters.

[0012] Furthermore, the inner wall of the ceramic shell is provided with a circular interlayer, in which a circular sleeve is slidably sleeved, the back end of the circular sleeve extends to the back of the ceramic shell and is connected to a circular moving magnetic piece, the front end of the circular sleeve is fixedly connected to the inner wall of the circular interlayer through a telescopic corrugated sleeve, the back of the circular moving magnetic piece is magnetically adsorbed with a circular fixed magnetic piece, the front side of the fixed plate is provided with a circular embedding groove, the circular fixed magnetic piece is fixedly connected in the circular embedding groove, and the circular moving magnetic piece is embedded in the circular embedding groove.

[0013] Furthermore, tension and telescopic rods are fixedly connected to both sides of the ceramic housing, and the output ends of the two tension and telescopic rods are fixedly connected to the front side of the circular moving magnetic sheet.

[0014] Furthermore, the tension telescopic rod includes an outer tube, an inner sliding column is slidably sleeved inside the outer tube, the front end of the inner sliding column is transmission-connected to the front end of the inner wall of the outer tube via a tension spring, the back end of the inner sliding column is fixedly connected to a moving rod, the back end of the moving rod passes through the outside of the outer tube and is connected to a circular moving magnetic sheet, and the diameter of the inner sliding column is larger than the diameter of the moving rod.

[0015] Technical effects and advantages of the present invention: The present invention provides a dual-mode charging plug and a dual-mode charging interface, so that the tunnel inspection robot has two modes of wired charging and wireless charging. The combustible gas in the tunnel is monitored in real time by a combustible gas sensor and is equipped with a plug-in mechanism and a wireless charging switch, so that the robot can automatically switch to wireless charging when the combustible gas exceeds the standard, thereby avoiding electric sparks at the wired charging interface to ignite the combustible gas and preventing fire and explosion accidents during tunnel inspection operations. In a normal environment, the robot can automatically switch to wired charging, thereby improving charging efficiency and enabling the robot to better adapt to complex environments such as tunnels. In addition, the plug-in and pull-out mechanism and the connector assembly cooperate to realize the plug-in and pull-out of the wired charging interface, and also realize the self-locking effect of the dual-mode charging plug, effectively preventing the plug from loosening and falling off during the charging process, and improving the stability of the charging connection; The interface component and plug component are specially designed. Through the combination of ceramic inserts and ceramic shells, the wired charging interface can be isolated by insulating materials to prevent arcs and sparks generated during plugging and unplugging from being exposed to the external space and igniting combustible gases. Several arc-extinguishing partitions are also set on the basis of the interface component structure to effectively eliminate or reduce the generation of arcs, further improving safety performance. A circular sleeve is also provided on the basis of the interface component structure. With the magnetic cooperation of the circular moving magnetic piece and the circular fixed magnetic piece, the dual-mode charging plug can always seal the wired charging interface during the installation and charging process. On the one hand, it can further prevent the generated electric sparks and arcs from being exposed to the external space. On the other hand, it can prevent external flammable gases from penetrating into the interface component and the connection of the plug component to cause a fire, thereby optimizing the safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the dual-mode charging plug structure; Figure 3 For the present invention Figure 2 Schematic diagram of the plug-in mechanism structure; Figure 4 For the present invention Figure 2 Schematic diagram of the connector assembly structure; Figure 5 For the present invention Figure 4 A schematic diagram of the control rod assembly structure; Figure 6 For the present invention Figure 2 Schematic diagram of the interface component and plug component structure; Figure 7 For the present invention Figure 6 Schematic diagram of the cross-sectional structure of the interface components in FIG. Figure 8 For the present invention Figure 7 Schematic diagram of the cross-sectional structure of the ceramic casing; Fig. 9 For the present invention Figure 8 Schematic diagram of the cross-sectional structure of the tension telescopic rod in the top view.

[0017] The accompanying drawings are marked as follows: 1. robot body; 2. wireless charging receiver; 3. wired charging interface; 4. dual-mode charging plug; 5. combustible gas sensor; 31. interface assembly; 32. plug-in mechanism; 41. cover; 42. plug assembly; 43. wireless charging transmitter; 44. fixing plate; 45. connector assembly; 321. fixing seat; 322. pin barrel; 323. convex strip; 324. threaded shaft; 325. micro servo motor; 451. outer solid shell; 452. flap; 453. convex column; 45 4. Torsion spring; 455. Control rod assembly; 456. Hook tooth; 4551. Sliding rod; 4552. Cylinder sleeve; 4553. Pressing rod; 311. Ceramic casing; 312. Interface end; 313. Arc extinguishing partition; 314. Ring sleeve; 315. Ring moving magnetic sheet; 316. Tension telescopic rod; 317. Ring fixed magnetic sheet; 318. Telescopic corrugated sleeve; 421. Main body plug; 422. Ceramic insert; 3161. Outer cylinder; 3162. Inner sliding column; 3163. Moving rod; 3164. Tension spring. DETAILED DESCRIPTION

[0018] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0019] Reference Figure 1 and Figure 2 The present invention provides a safe charging switching device for a tunnel inspection robot, comprising a robot body 1, wherein a battery is arranged inside the robot body 1, and the characteristics are as follows: a combustible gas sensor 5 is installed on the top of the robot body 1, a dual-mode charging interface is installed on the side wall of the robot body 1, and the dual-mode charging interface is connected to a dual-mode charging plug 4, and a control board is arranged inside the robot body 1; The dual-mode charging interface is composed of a wireless charging receiver 2 and a wired charging interface 3. The wireless charging receiver 2 and the wired charging interface 3 are electrically connected to the battery inside the robot body 1. A switch is connected in series between the wireless charging receiver 2 and the battery of the robot body 1, and the switch is electrically connected to the control board. The dual-mode charging plug 4 includes a plug assembly 42 and a wireless charging transmitter 43. The side walls of the plug assembly 42 and the wireless charging transmitter 43 are fixedly connected through a fixing plate 44. The wired charging interface 3 is composed of an interface assembly 31 and a plug-in mechanism 32. A connector assembly 45 is fixedly connected to the top of the fixing plate 44. The connector assembly 45 is combined and connected to the output end of the plug assembly 42. A cover 41 is installed on the back of the fixing plate 44, and the plug-in mechanism 32 is docked with the control board.

[0020] Reference Figure 2 There are two plug-in mechanisms 32 and connector assemblies 45, which are symmetrically connected at the top and bottom of the interface assembly 31 and the connector assembly 45 respectively. The operation of a single plug-in mechanism 32 may cause the fixing plate 44 to tilt up and down, resulting in the plug assembly 42 being unable to be separated from the interface assembly 31 smoothly. The symmetrical arrangement of the two plug-in mechanisms 32 and connector assemblies 45 can avoid the situation where the interface assembly 31 and the plug assembly 42 cannot be separated, and at the same time improve the stability of the overall movement of the dual-mode charging plug 4 driven by the plug-in mechanism 32.

[0021] Reference Figure 3 The plug-in mechanism 32 includes a fixing seat 321 and a micro servo motor 325. The fixing seat 321 is provided with an axial hole inside, and a pin barrel 322 is slidably sleeved in the axial hole. A threaded shaft 324 is threadedly sleeved in the inner cavity of the pin barrel 322. The output end of the micro servo motor 325 is fixedly connected to the threaded shaft 324. A convex strip 323 is provided on the top of the pin barrel 322. A groove is provided on the inner wall of the axial hole of the fixing seat 321. The convex strip 323 is slidably sleeved in the groove. The back end of the pin barrel 322 is connected to the connector assembly 45. The micro servo motor 325 is electrically connected to the control board through a relay and a contactor, and the micro servo motor 325 is controlled by the control board. The operation of the servo motor 325 drives the threaded shaft 324 to rotate. Under the effect of the threaded structure, the pin barrel 322 slides in the shaft hole of the fixing seat 321. The pin barrel 322 slides toward the back end to push the connector assembly 45, so that the dual-mode charging plug 4 moves backward as a whole, thereby disconnecting the plug assembly 42 from the interface assembly 31. When the micro servo motor 325 runs to control the threaded shaft 324 to rotate in the opposite direction, the pin barrel 322 is reset. At this time, the dual-mode charging plug 4 is reset as a whole, and the plug assembly 42 and the interface assembly 31 are reconnected, thereby realizing the plug-in and pull-out drive effect of the plug-in mechanism 32.

[0022] Reference Figure 4The connector assembly 45 includes an outer solid shell 451, a pin hole is provided on the front of the outer solid shell 451, a groove is provided on the top of the pin hole, and rotating holes are provided on both sides of the inner wall of the groove. A flap 452 is provided in the groove, and bosses 453 are provided on both sides of the flap 452. The two bosses 453 are movably sleeved in the two rotating holes respectively, and the bosses 453 are transmission-connected with the inner walls of the rotating holes through torsion springs 454. A control rod assembly 455 that penetrates the top of the outer solid shell 451 is provided at the back end of the flap 452, and a hook tooth 456 is provided at the bottom of the positive end of the flap 452, and the front of the hook tooth 456 is a downwardly inclined slope. A hook groove adapted to the hook tooth 456 is provided on the top of the threaded shaft 324. When the pin barrel 322 moves to insert into the pin hole of the outer solid shell 451, the threaded shaft 324 follows and enters the pin hole The screw shaft 324 is in contact with the slope of the hook tooth 456 in the groove at the top of the hole, so that the hook tooth 456 has an upward lifting force. At this time, the flap 452 rotates along the axis of the boss 453. As the pin barrel 322 continues to move, at least when the hook groove at the top of the screw shaft 324 is vertically aligned with the hook tooth 456, under the torsion effect of the torsion spring 454, the flap 452 is flipped to drive the hook tooth 456 to be stuck in the groove. At this time, the output end of the plug-in mechanism 32 and the connector assembly 45 are combined to achieve an automatic connection and locking effect, so that the operation of the plug-in mechanism 32 can drive the connector assembly 45 to move, and by pressing the control lever assembly 455, the flap 452 can be flipped again, so that the hook tooth 456 moves up and disengages from the groove of the screw shaft 324, thereby achieving an unlocking effect.

[0023] Reference Figure 5 The control rod assembly 455 includes a pressing rod 4553, the bottom end of which is fixedly connected to a sleeve 4552, a sliding rod 4551 is movably sleeved in the inner cavity of the sleeve 4552, a notch is provided at the back end of the flap 452, and rail grooves are provided on both sides of the inner wall of the notch, and both ends of the sliding rod 4551 are slidably sleeved in the two rail grooves. The structure of the control rod assembly 455 is connected to the flap 452 to avoid the control rod assembly 455 from restricting the flipping of the flap 452.

[0024] Reference Figure 6The interface assembly 31 is composed of a ceramic shell 311 and an interface terminal 312, and the interface terminal 312 is arranged inside the ceramic shell 311. The plug assembly 42 is composed of a main plug 421 and a ceramic insert 422. The ceramic insert 422 is fixedly connected to the side wall of the main plug 421, and the fixing plate 44 is fixedly connected to the side wall of the main plug 421. The back of the ceramic shell 311 is provided with an insert extending to the inside, and the insert is adapted to the ceramic insert 422. When the interface assembly 31 and the plug assembly 42 are controlled by the plug-in mechanism 32, 2 It is very easy to generate electric sparks or arcs when plugging and unplugging, which poses a safety hazard. Through the structural setting of the interface component 31 and the plug component 42, the main plug 421 needs to be inserted into the interface terminal 312 for connection during docking, and at this time, the ceramic insert 422 is embedded in the insert of the ceramic shell 311, so as to achieve the effect of sealing and isolating the connection between the main plug 421 and the interface terminal 312. In addition, through the material insulation characteristics of the ceramic insert 422 and the ceramic shell 311, it can effectively avoid the safety hazard caused by the exposure of electric sparks or arcs.

[0025] Reference Figure 7 The inner wall of the ceramic shell 311 is also provided with an outward expansion groove, and a plurality of arc-extinguishing partitions 313 are fixedly connected to the inner wall of the outward expansion groove. The distance between two adjacent arc-extinguishing partitions 313 is two to five millimeters. When the interface end 312 is disconnected from the main plug 421 and an arc is generated, the arc enters between the plurality of arc-extinguishing partitions 313, which can divide the arc into a plurality of small arcs, thereby achieving an arc-extinguishing effect, thereby further improving safety.

[0026] Reference Figure 8 The inner wall of the ceramic shell 311 is provided with a circular interlayer, and a circular sleeve 314 is slidably sleeved in the circular interlayer. The back end of the circular sleeve 314 extends to the back of the ceramic shell 311 and is connected to a circular moving magnetic piece 315. The front end of the circular sleeve 314 is fixedly connected to the inner wall of the circular interlayer through a telescopic corrugated sleeve 318. A circular fixed magnetic piece 317 is magnetically adsorbed on the back of the circular moving magnetic piece 315. A circular embedding groove is provided on the front of the fixed plate 44. The circular fixed magnetic piece 317 is fixedly connected in the circular embedding groove. The circular moving magnetic piece 315 is embedded in the circular embedding groove. According to the structural setting, when the plug assembly 42 is docked with the interface assembly 31, the circular movable magnetic piece 315 is embedded in the circular groove of the fixing plate 44 under the influence of magnetic force, and fits tightly with the circular fixed magnetic piece 317. When the plug assembly 42 is displaced for plugging and unplugging the wired interface, the circular sleeve 314 can slide in the circular interlayer of the ceramic shell 311 under the adsorption effect of the circular movable magnetic piece 315 and the circular fixed magnetic piece 317, so that the ceramic shell 311 is always sealed at the embedding mouth to prevent external combustible gas from entering the embedding mouth of the ceramic shell 311 and causing safety hazards.

[0027] Reference Figure 8, tension telescopic rods 316 are fixedly connected to both sides of the ceramic shell 311, and the output ends of the two tension telescopic rods 316 are fixedly connected to the front of the circular moving magnetic piece 315. When charging is completed and the dual-mode charging plug 4 is pulled out as a whole, the connection between the circular fixed magnetic piece 317 and the circular moving magnetic piece 315 is disconnected. Under the influence of the tension, the circular sleeve 314 cannot be reset in the circular interlayer and may even fall off. By setting the telescopic characteristics and tension characteristics of the tension telescopic rod 316, the tension telescopic rod 316 can automatically reset the circular sleeve 314 without affecting the sliding of the circular sleeve 314, thereby improving convenience.

[0028] Reference Fig. 9 The tension telescopic rod 316 includes an outer cylinder 3161, and an inner sliding column 3162 is slidably sleeved inside the outer cylinder 3161. The front end of the inner sliding column 3162 is transmission-connected to the front end of the inner wall of the outer cylinder 3161 through a tension spring 3164. The back end of the inner sliding column 3162 is fixedly connected to a moving rod 3163. The back end of the moving rod 3163 passes through the outside of the outer cylinder 3161 and is connected to the circular moving magnetic sheet 315. The diameter of the inner sliding column 3162 is larger than the diameter of the moving rod 3163. The telescopic characteristics of the tension telescopic rod 316 can be achieved through the matching relationship between the outer cylinder 3161 and the inner sliding column 3162. The tension characteristics of the tension telescopic rod 316 can be achieved by setting the tension spring 3164. The anti-slip effect can be achieved through the diameter size relationship between the inner sliding column 3162 and the outer cylinder 3161.

[0029] The working principle of the present invention is as follows: the battery of the robot body 1 can be charged by wire by connecting the plug assembly 42 with the interface assembly 31, and wireless charging can be performed by approaching the wireless charging transmitter 43 with the wireless charging receiver 2. In the initial state, the switch connected to the internal battery of the robot body 1 through the wireless charging receiver 2 is in the disconnected state, which is in the wired charging mode. When the combustible gas sensor 5 detects combustible gas, it sends a signal to the control board inside the robot body 1, and the control board controls the plug-in mechanism 32 to run and extend. Since the plug-in mechanism 32 of the wired charging interface 3 is combined with the connector assembly 45 of the dual-mode charging plug 4, when the plug-in mechanism 32 is extended, the dual-mode charging plug 4 can be pushed away as a whole, so that the plug assembly 42 is disconnected from the interface assembly 31, and at the same time, the switch connecting the wireless charging receiver 2 with the internal battery of the robot body 1 is controlled to switch to the closed state. At this time, the battery of the robot body 1 can be wirelessly charged through the wireless charging receiver 2, thereby completing the charging mode conversion and avoiding the safety hazard caused by wired charging under combustible gas. Similarly, after the combustible gas sensor 5 does not detect combustible gas, it switches back to the wired charging mode to ensure charging efficiency.

[0030] The above shows and describes the basic principles, main features and advantages of the present invention. The present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A safe charging switching device for a tunnel inspection robot, comprising a robot body (1), a battery disposed inside the robot body (1), and a control panel disposed inside the robot body (1), characterized in that: A combustible gas sensor (5) is installed on the top of the robot body (1), and a dual-mode charging interface is installed on the side wall of the robot body (1), and the dual-mode charging interface is connected to a dual-mode charging plug (4); The dual-mode charging interface is composed of a wireless charging receiver (2) and a wired charging interface (3); the wireless charging receiver (2) and the wired charging interface (3) are electrically connected to a battery inside the robot body (1); a switch is connected in series between the wireless charging receiver (2) and the battery of the robot body (1); and the switch is electrically connected to a control panel; The dual-mode charging plug (4) comprises a plug assembly (42) and a wireless charging transmitter (43), and the side walls of the plug assembly (42) and the wireless charging transmitter (43) are fixedly connected via a fixing plate (44); The wired charging interface (3) is composed of an interface component (31) and a plug-in mechanism (32); a connector component (45) is fixedly connected to the top of the fixing plate (44); the connector component (45) is combined and connected with an output end of the plug component (42); a cover (41) is installed on the back of the fixing plate (44); and the plug-in mechanism (32) is connected to a control panel.

2. A safe charging switching device for a tunnel inspection robot according to claim 1, characterized in that: The plugging and unplugging mechanisms (32) and the connector components (45) are provided in pairs and are symmetrically connected at the top and bottom of the interface component (31) and the connector component (45), respectively.

3. A safe charging switching device for a tunnel inspection robot according to claim 1, characterized in that: The plug-in mechanism (32) comprises a fixing seat (321) and a micro servo motor (325). The fixing seat (321) is provided with an axial hole inside, a pin barrel (322) is slidably sleeved in the axial hole, a threaded shaft (324) is threadedly sleeved in the inner cavity of the pin barrel (322), an output end of the micro servo motor (325) is fixedly connected to the threaded shaft (324), a convex strip (323) is provided at the top of the pin barrel (322), a groove is provided on the inner wall of the axial hole of the fixing seat (321), the convex strip (323) is slidably sleeved in the groove, the back end of the pin barrel (322) is connected to the connector assembly (45), and the micro servo motor (325) is electrically connected to the control board via a relay and a contactor.

4. A safe charging switching device for a tunnel inspection robot according to claim 3, characterized in that: The connector assembly (45) comprises an outer solid shell (451), a pin hole is provided on the front of the outer solid shell (451), a groove is provided on the top of the pin hole, and rotating holes are provided on both sides of the inner wall of the groove. A flap (452) is provided in the groove, and bosses (453) are provided on both sides of the flap (452). Two bosses (453) are movably sleeved in two rotating holes respectively, and the bosses (453) are transmission-connected to the inner walls of the rotating holes through torsion springs (454). A control rod assembly (455) penetrating to the top of the outer solid shell (451) is provided at the back end of the flap (452), a hook tooth (456) is provided at the bottom of the front end of the flap (452), and the front of the hook tooth (456) is a downwardly inclined slope, and a hook groove matching the hook tooth (456) is provided at the top of the threaded shaft (324).

5. A safe charging switching device for a tunnel inspection robot according to claim 4, characterized in that: The control rod assembly (455) comprises a pressing rod (4553), the bottom end of the pressing rod (4553) is fixedly connected to a sleeve (4552), the inner cavity of the sleeve (4552) is movably sleeved with a sliding rod (4551), the back end of the flap (452) is provided with a notch, both sides of the inner wall of the notch are provided with rail grooves, and the two ends of the sliding rod (4551) are slidably sleeved in the two rail grooves.

6. A safe charging switching device for a tunnel inspection robot according to claim 1, characterized in that: The interface assembly (31) is composed of a ceramic shell (311) and an interface terminal (312), wherein the interface terminal (312) is arranged inside the ceramic shell (311), and the plug assembly (42) is composed of a main body plug (421) and a ceramic insert (422), wherein the ceramic insert (422) is fixedly connected to the side wall of the main body plug (421), and the fixing plate (44) is fixedly connected to the side wall of the main body plug (421), and the back of the ceramic shell (311) is provided with an insert extending to the inside, wherein the insert is adapted to the ceramic insert (422).

7. A safe charging switching device for a tunnel inspection robot according to claim 6, characterized in that: The ceramic casing (311) is also provided with an outer expansion groove on its inner wall, and a plurality of arc extinguishing chute plates (313) are fixedly connected to the inner wall of the outer expansion groove, with the distance between two adjacent arc extinguishing chute plates (313) being between two millimetres and five millimetres.

8. A safe charging switching device for a tunnel inspection robot according to claim 6, characterized in that: The inner wall of the ceramic casing (311) is provided with a circular interlayer, in which a circular sleeve (314) is slidably sleeved, the back end of the circular sleeve (314) extends to the back of the ceramic casing (311) and is connected to a circular moving magnetic piece (315), the front end of the circular sleeve (314) is fixedly connected to the inner wall of the circular interlayer through a telescopic corrugated sleeve (318), the back of the circular moving magnetic piece (315) is magnetically adsorbed with a circular fixed magnetic piece (317), the front of the fixed plate (44) is provided with a circular embedding groove, the circular fixed magnetic piece (317) is fixedly connected in the circular embedding groove, and the circular moving magnetic piece (315) is embedded in the circular embedding groove.

9. A safe charging switching device for a tunnel inspection robot according to claim 8, characterized in that: Tension telescopic rods (316) are fixedly connected to both sides of the ceramic casing (311), and the output ends of the two tension telescopic rods (316) are fixedly connected to the front side of the circular moving magnetic sheet (315).

10. A safe charging switching device for a tunnel inspection robot according to claim 9, characterized in that: The tension telescopic rod (316) comprises an outer cylinder (3161), an inner sliding column (3162) is slidably sleeved inside the outer cylinder (3161), the front end of the inner sliding column (3162) is transmission-connected to the front end of the inner wall of the outer cylinder (3161) via a tension spring (3164), the back end of the inner sliding column (3162) is fixedly connected to a moving rod (3163), the back end of the moving rod (3163) passes through the outside of the outer cylinder (3161) and is connected to the circular moving magnetic sheet (315), and the diameter of the inner sliding column (3162) is greater than the diameter of the moving rod (3163).

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