Gallery climbing inspection robot

Abstract

The invention discloses a corridor climbing inspection robot which comprises a ground attaching track arranged in a corridor, and a linear transmission body is arranged on the supporting face of the ground attaching track. The inspection robot comprises a self-walking driving device and an inspection image acquisition device; the self-walking driving device comprises two self-walking mechanisms which are arranged in a spaced mode, and any self-walking mechanism comprises a limiting sliding fit part which is in anti-falling sliding fit with the ground attaching track and a walking driving part which is in transmission fit with the linear transmission body; the inspection image acquisition device comprises a main machine base, a displacement mechanical arm which is arranged on the main machine base and is provided with at least two axial positions, and an image acquisition part which is arranged at the free end of the displacement mechanical arm. The guide and image acquisition requirements of gallery inspection are met, the ground-attached track carrying inspection robot runs reliably and stably, and the effective running life is reliably guaranteed. Climbing and steering in the gallery can be achieved, the maximum climbing angle can exceed 60 degrees, and the inspection requirement of the extreme gallery environment can be met.

Description

Technical Field

[0001] The invention relates to a corridor climbing inspection robot, belonging to the technical field of inspection equipment. Background Art

[0002] During the construction of hydropower, mining and other industries, corridor construction and inspection operations will be involved. It is necessary to understand the distribution of damage such as cracks in the corridor structure, the location of leakage points and the operating status of key facilities. At the same time, regular structural safety such as whether there is any dislocation in the structural joints and whether the drainage ditches are running smoothly also need to be inspected in time to prevent problems before they occur.

[0003] Due to the limitations of manual inspection and the hidden nature of the development of structural diseases and damage, conventional manual inspections are not easy to timely and accurately discover and identify corridor defects and operating conditions, and it is difficult to provide timely and comprehensive support for structural safety management and control. The use of intelligent inspection methods to complete safety inspections of dam corridors, dam shoulder flat tunnels, and corridors at the bottom of cushion ponds is the basis for building a structural safety assessment method that integrates monitoring and detection. Its results are also an important basis for evaluating the safety status of hydropower stations and strengthening and reinforcing treatment, which is of great significance to improving the safe operation level of hydropower stations and enhancing the operational capacity of hydropower stations.

[0004] In the corridor circulation operation, the fixed-track guidance method will be used to guide the inspection robot's path, that is, the inspection robot's own moving wheel power is used for forward operation, and the guidance is achieved by the guidance sliding with the fixed track, thus meeting the inspection guidance and operation requirements of the inspection robot. This inspection method uses the ground-contact driving wheels of the inspection robot to achieve self-walking, and uses the fixed track for guidance. It has the problems of insufficient climbing power and poor guidance coordination stability. When the climbing angle of some corridors exceeds 45°, the power is insufficient to achieve climbing operations. At the same time, the robot's position is easily offset during the climbing process, resulting in the occurrence of rail support and other problems.

[0005] To address this situation, a suspended rail inspection robot has emerged. That is, a suspended rail is set in the corridor, and a pulley block that matches the suspended rail is set on the inspection robot. The pulley power of the pulley block on the suspended rail is used to drive the inspection robot to slide along the suspended rail. This type of suspended rail requires single-sided suspension and there are spaced suspension frames. The pulley block of the inspection robot needs to avoid the suspension frame. Therefore, most of them are single-sided suspension structures, which are prone to falling risks during climbing and displacement. In addition, the inspection robot has a certain weight. During long-term circulation, the suspended rail is prone to deformation, which makes the inspection robot unable to operate stably. Summary of the invention

[0006] The purpose of the present invention is to solve the deficiencies of the above-mentioned prior art, and to propose a corridor climbing inspection robot to address the problems that traditional self-propelled inspection robots lack guiding climbing power and traditional hoisting inspection robots cannot operate stably for a long time.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is: A corridor climbing inspection robot comprises a ground-contacting track arranged in the corridor for carrying the inspection robot, wherein a linear transmission body is arranged on a supporting surface of the ground-contacting track; The inspection robot comprises a self-propelled driving device for cooperating with the ground-attached track, and an inspection image acquisition device arranged on the self-propelled driving device; The self-propelled driving device comprises two self-propelled mechanisms arranged at intervals, and any of the self-propelled mechanisms comprises a limited sliding part that is slidably matched with the ground-contacting track to prevent disengagement, and a walking driving part that is driven and matched with the linear transmission body to drive the inspection robot to walk along the ground-contacting track; The inspection image acquisition device comprises a mainframe, a displacement mechanical arm with at least two axial positions arranged on the mainframe, and an image acquisition unit arranged on the free end of the displacement mechanical arm.

[0008] Preferably, the ground-contacting track comprises a ground-contacting track plate, a supporting track plate, and a track supporting rib arranged between the ground-contacting track plate and the supporting track plate, and the linear transmission body is arranged on the supporting track plate and is arranged opposite to the track supporting rib; The limited sliding part includes two matching brackets arranged on both sides of the track support rib, and the two matching brackets are respectively provided with a first matching roller for matching with the side wall of the track support rib and a second matching roller for matching with the bottom wall of the support rail plate. The travel drive unit includes a driving wheel for pressing against the support rail plate and a rotation drive source transmission-connected to the driving wheel. The driving wheel includes a meshing ring portion for meshing and transmission-cooperating with the linear transmission body.

[0009] Preferably, the support rail plate has a first arc segment, and the radial direction of the first arc segment is parallel to the plane where the track support ribs are located; The self-propelled mechanism includes a rocker suspension for carrying the driving wheel and a pressing elastic body for forcing the driving wheel to press against the supporting rail plate. The rotary drive source is arranged on the rocker suspension, and the rotating end of the rotary drive source is connected to the driving wheel through a transmission belt.

[0010] Preferably, the support rail plate has a second arc segment, and the radial direction of the second arc segment is parallel to the plane where the ground-contacting rail plate is located; The self-propelled mechanism is rotatably connected to the main frame, and the rotation axis of the self-propelled mechanism is perpendicular to the rotation axis of the driving wheel and the spacing direction of the two self-propelled mechanisms.

[0011] Preferably, the support rail plate has a first arc segment, and the radial direction of the first arc segment is parallel to the plane where the track support ribs are located; The self-propelled mechanism includes a rocker suspension for carrying the driving wheel, and a pressing elastic body for forcing the driving wheel to press against the supporting rail plate, the rotary drive source is arranged on the rocker suspension, and the rotating end of the rotary drive source is connected to the driving wheel through a transmission belt; The supporting rail plate has a second arc segment, and the radial direction of the second arc segment is parallel to the plane where the ground-contacting rail plate is located; The self-propelled mechanism is rotatably connected to the main frame, and the rotation axis of the self-propelled mechanism is perpendicular to the rotation axis of the driving wheel and the spacing direction of the two self-propelled mechanisms.

[0012] Preferably, the self-propelled mechanism comprises a carrying frame for carrying the position-limiting sliding part and the traveling driving part.

[0013] Preferably, the two matching brackets are respectively provided with third side guard rollers which are arranged opposite to each other, and the wheel surfaces of the third side guard rollers are arranged opposite to the side walls of the supporting rail plate.

[0014] Preferably, the first laminating roller has a telescopic elastic floating displacement.

[0015] Preferably, the displacement mechanical arm comprises a first rotating arm arranged on the main base, a second rotating arm arranged on the free end of the first rotating arm, and a third rotating arm arranged on the free end of the second rotating arm, and the image acquisition unit is arranged on the third rotating arm; The rotation axis of the first rotating arm is parallel to the travel direction of the inspection robot, and the rotation axes of the second rotating arm and the third rotating arm are respectively parallel to the rotation axis of the first rotating arm; The image acquisition direction of the image acquisition part is perpendicular to the rotation axis of the first rotating arm.

[0016] Preferably, the inspection image acquisition device includes an image acquisition end and a supplementary light source arranged around the image acquisition end.

[0017] The beneficial effects of the present invention are mainly reflected in: 1. To meet the guidance and image acquisition requirements of corridor inspection, the inspection robot carried on the ground track can operate reliably and stably, and its effective operating life can be reliably guaranteed.

[0018] 2. It can achieve climbing and turning in the corridor, with a maximum climbing angle of more than 60°, which can meet the inspection needs in extreme corridor environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 It is a structural schematic diagram of a corridor climbing inspection robot of the present invention.

[0020] Figure 2 It is a schematic structural diagram of a corridor climbing inspection robot from another perspective of the present invention.

[0021] Figure 3 This is another perspective structural schematic diagram of a corridor climbing inspection robot of the present invention.

[0022] Figure 4 It is a schematic diagram of the partial explosion structure of a corridor climbing inspection robot of the present invention.

[0023] Figure 5 It is a structural schematic diagram of a corridor climbing inspection robot according to the present invention, partially exploded from another perspective.

[0024] Figure 6 It is a structural schematic diagram of a self-propelled driving device in a corridor climbing inspection robot of the present invention.

[0025] Figure 7 It is a structural schematic diagram of a self-propelled mechanism in a corridor climbing inspection robot of the present invention.

[0026] Figure 8 The diagram is a partial default structural diagram of a self-propelled mechanism in a corridor climbing inspection robot according to the present invention.

[0027] Fig. 9 It is a structural schematic diagram of an inspection image acquisition device in a corridor climbing inspection robot of the present invention.

[0028] Fig.10 It is a structural schematic diagram from another perspective of the inspection image acquisition device in a corridor climbing inspection robot of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It should also be noted that, for ease of description, only the parts related to the relevant inventions are shown in the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0031] The present invention provides a corridor climbing inspection robot, such as Figures 1 to 10 As shown, it includes a ground-mounted track 100 arranged in the corridor for carrying the inspection robot, and a linear transmission body 200 is provided on the supporting surface of the ground-mounted track 100; the linear transmission body 200 in the accompanying drawing is partially displayed and does not completely cover the ground-mounted track 100. In actual applications, the linear transmission body 200 will be extended on the supporting surface.

[0032] like Figure 1 and Figure 2 As shown, the inspection robot includes a self-propelled driving device 1 for cooperating with a ground-attached track 100 , and an inspection image acquisition device 2 arranged on the self-propelled driving device 1 .

[0033] The self-propelled drive device 1 includes two self-propelled mechanisms 10 arranged at an interval, and any self-propelled mechanism 10 includes a limiting sliding part 11 that cooperates with the ground track to prevent slippage and a walking drive part 12 that cooperates with the linear transmission body 200 to drive the inspection robot to walk along the ground track.

[0034] The inspection image acquisition device 2 includes a mainframe 21 , a displacement mechanical arm 22 with at least two axial positions disposed on the mainframe 21 , and an image acquisition unit 23 disposed on the free end of the displacement mechanical arm 22 .

[0035] Specific implementation process and principle description: First, a directional guided ground track 100 is provided. The ground track is supported on the foundation, so that no local deformation occurs, and stable operation is maintained with a long effective life.

[0036] When performing inspection operations, the two self-propelled mechanisms 10 are anti-slipped and slipped on the ground track by the limiting sliding part 11, so as to prevent the self-propelled drive device 1 from detaching from the ground track 100. The self-propelled mechanism 10 is driven in the direction of the ground track 100 by the transmission cooperation between the travel drive part 12 and the linear transmission body 200. Specifically, the ground track realizes the guidance of anti-slip cooperation, and the linear transmission body 200 provides a passive driving effect. The linear transmission body 200 can be a tooth row, an equidistant shaft rod seat, a screw rod, etc., and the travel drive part 12 can be a meshing toothed disc matched with the tooth row or the equidistant shaft rod seat, or it can be a rotating matching slide matched with the screw rod.

[0037] During inspection, the inspection image acquisition device 2 can realize the yaw drive of the image acquisition part 23 through the displacement mechanical arm 22 of at least two axes, thereby realizing flexible image acquisition in the circumferential direction and at an adjusted angle.

[0038] In a specific embodiment, Figure 1 and Figure 2 As shown, the ground track 100 includes a ground track plate 300, a support track plate 400, and track support ribs 500 disposed between the ground track plate and the support track plate. The linear transmission body 200 is disposed on the support track plate and opposite to the track support ribs.

[0039] like Figures 3 to 6 As shown, the limiting sliding part 11 includes two matching brackets 110 respectively arranged on both sides of the track support rib, and the two matching brackets 110 are respectively provided with a first matching roller 111 for fitting with the side wall of the track support rib and a second matching roller 112 for fitting with the bottom wall of the support rail plate.

[0040] That is, two oppositely arranged first fitting rollers 111 are used to clamp the relative track support ribs to meet the operation guiding requirements, and two opposite second fitting rollers 111 are sampled, which are located between the ground track plate 300 and the support track plate 400 to prevent the I-shaped ground track 100 from escaping.

[0041] The travel drive unit 12 includes a driving wheel 121 for pressing against the support rail plate, and a rotation drive source 122 drivingly connected to the driving wheel 121 . The driving wheel 121 includes a meshing ring portion 1210 for meshing and driving with a linear transmission body.

[0042] Specifically, refer to Figure 3 As shown, when the self-propelled drive device 1 cooperates with the ground-fitting track 100, it realizes a two-point clamping cooperation through the first fitting rollers 111 of the two self-propelled mechanisms 10 to meet its guiding cooperation requirements, and utilizes the driving wheel 121 and the two second fitting rollers 112 to realize the relative clamping cooperation of the supporting rail plate 400 to achieve fitting.

[0043] During the walking process, the rotation transmission of the driving wheel 121 is realized by the rotation driving source 122 , and the meshing ring portion 1210 thereof is meshed with the linear transmission body 200 to convert the rotation displacement into the walking displacement of the self-propelled driving device 1 .

[0044] Embodiment 1 like Figure 1 and Figure 2 As shown, the support rail plate 400 has a first arc segment 410 , and the radial direction of the first arc segment 410 is parallel to the plane where the track support ribs 500 are located.

[0045] like Figure 7 and Figure 8 As shown, the self-propelled mechanism 10 includes a rocker arm suspension 13 for carrying a driving wheel, a pressing elastic body 14 for forcing the driving wheel to press against a supporting rail plate, and a rotary drive source 122 is arranged on the rocker arm suspension 13. The rotating end of the rotary drive source 122 is connected to the driving wheel through a transmission belt 1220.

[0046] Specifically, there is a climbing section in the corridor, and its maximum climbing angle is even more than 60°, so the method of pressing the elastic body 14 is sampled, that is, during the climbing process, the rocker arm suspension 13 of the self-propelled mechanism 10 and the pressing elastic body 14 cooperate to meet the coordination requirements of a larger climbing gradient and ensure that its climbing arc can be met. This solution is also the first implementation solution that can achieve a climbing angle of 60° or more in the corridor.

[0047] Embodiment 2 like Figure 1 and Figure 2 As shown, the support rail plate 400 has a second arc segment 420, and the radial direction of the second arc segment 420 is parallel to the plane where the ground-contacting rail plate is located.

[0048] The self-propelled mechanism 10 is rotatably connected to the main frame 21, and the rotation axis of the self-propelled mechanism is perpendicular to the rotation axis of the driving wheel and the spacing direction of the two self-propelled mechanisms.

[0049] That is, there is a turning demand in the corridor, and the rotation of the two self-propelled mechanisms 10 can achieve the coordination of arc turning, so that the turning process is efficient and stable.

[0050] Embodiment 3 like Figure 1 and Figure 2 As shown, the support rail plate 400 has a first arc segment 410 , and the radial direction of the first arc segment 410 is parallel to the plane where the track support ribs 500 are located.

[0051] like Figure 7 and Figure 8As shown, the self-propelled mechanism 10 includes a rocker arm suspension 13 for carrying a driving wheel, a pressing elastic body 14 for forcing the driving wheel to press against a supporting rail plate, and a rotary drive source 122 is arranged on the rocker arm suspension 13. The rotating end of the rotary drive source 122 is connected to the driving wheel through a transmission belt 1220.

[0052] Specifically, there is a climbing section in the corridor, and its maximum climbing angle is even more than 60°, so the method of pressing the elastic body 14 is sampled, that is, during the climbing process, the rocker arm suspension 13 of the self-propelled mechanism 10 and the pressing elastic body 14 cooperate to meet the coordination requirements of a larger climbing gradient and ensure that its climbing arc can be met. This solution is also the first solution that can achieve a climbing angle of 60° or more in the corridor; like Figure 1 and Figure 2 As shown, the support rail plate 400 has a second arc segment 420, and the radial direction of the second arc segment 420 is parallel to the plane where the ground-contacting rail plate is located.

[0053] The self-propelled mechanism 10 is rotatably connected to the main frame 21, and the rotation axis of the self-propelled mechanism is perpendicular to the rotation axis of the driving wheel and the spacing direction of the two self-propelled mechanisms.

[0054] That is, there is a turning demand in the corridor, and the rotation of the two self-propelled mechanisms 10 can achieve the coordination of arc turning, so that the turning process is efficient and stable.

[0055] It meets the operation requirements of climbing arc transition, turning arc transition, and climbing and turning combined tracks.

[0056] In a specific embodiment, the self-propelled mechanism 10 includes a mounting frame for mounting the position-limiting sliding part and the travel driving part, that is, the integration requirements of the self-propelled mechanism 10 are met.

[0057] In a specific embodiment, the two matching brackets 110 are respectively provided with third side guard rollers 113 which are arranged opposite to each other, and the wheel surfaces of the third side guard rollers are arranged opposite to the side walls of the supporting rail plate.

[0058] Specifically, when the self-propelled drive device 1 is climbing or turning, there is a certain change in the height, level and other directions of the driving wheel 121 with the arc. The third flange roller 113 can achieve protection to ensure that its guidance is reliable and the carrying limit is stable, and there will be no yaw or deviation from the track.

[0059] In a specific embodiment, the first laminating roller 111 has a telescopic elastic floating displacement.

[0060] That is, when the self-propelled driving device 1 is running along the ground-contacting track 100 , it maintains a floating and close state, so that the running of the self-propelled driving device 1 along the ground-contacting track 100 is relatively stable and reliable.

[0061] In a specific embodiment, Fig. 9 and Fig.10 As shown, the displacement robot 22 includes a first rotating arm 221 arranged on the main base, a second rotating arm 222 arranged on the free end of the first rotating arm, and a third rotating arm 223 arranged on the free end of the second rotating arm, and the image acquisition unit is arranged on the third rotating arm.

[0062] The rotation axis of the first rotating arm is parallel to the moving direction of the inspection robot, and the rotation axes of the second rotating arm and the third rotating arm are respectively parallel to the rotation axis of the first rotating arm.

[0063] The image acquisition direction of the image acquisition part is perpendicular to the rotation axis of the first rotating arm.

[0064] That is, it satisfies the requirement that the running plane of the image acquisition unit is perpendicular to the direction of the self-propelled driving device 1, and it can realize peripheral rotation scanning. At the same time, it also meets the requirement of image acquisition direction angle adjustment, and its inspection and acquisition images are richer.

[0065] In a specific embodiment, the inspection image acquisition device includes an image acquisition terminal 231 and a supplementary light source 232 arranged around the image acquisition terminal.

[0066] This meets the image acquisition needs of fill light.

[0067] From the above description, we can find that the inspection robot carried on the ground track can meet the guidance and image acquisition requirements of corridor inspection, and its operation is reliable and stable, and its effective operation life is reliably guaranteed. It can achieve climbing and turning in the corridor, and the maximum climbing angle can exceed 60°, which can meet the inspection needs of extreme corridor environments.

[0068] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0069] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A corridor climbing inspection robot, characterized in that: It includes a ground-contact track arranged in the corridor for carrying the inspection robot, and a linear transmission body is arranged on the supporting surface of the ground-contact track; The inspection robot comprises a self-propelled driving device for cooperating with the ground-attached track, and an inspection image acquisition device arranged on the self-propelled driving device; The self-propelled driving device comprises two self-propelled mechanisms arranged at intervals, and any of the self-propelled mechanisms comprises a limited sliding part that is slidably matched with the ground-contacting track to prevent disengagement, and a walking driving part that is driven and matched with the linear transmission body to drive the inspection robot to walk along the ground-contacting track; The inspection image acquisition device comprises a mainframe, a displacement mechanical arm with at least two axial positions arranged on the mainframe, and an image acquisition unit arranged on the free end of the displacement mechanical arm.

2. According to claim 1, a corridor climbing inspection robot is characterized in that: The ground-contacting track comprises a ground-contacting track plate, a supporting track plate, and a track supporting rib arranged between the ground-contacting track plate and the supporting track plate, and the linear transmission body is arranged on the supporting track plate and is arranged opposite to the track supporting rib; The limited sliding part includes two matching brackets arranged on both sides of the track support rib, and the two matching brackets are respectively provided with a first matching roller for matching with the side wall of the track support rib and a second matching roller for matching with the bottom wall of the support rail plate. The travel drive unit includes a driving wheel for pressing against the support rail plate and a rotation drive source transmission-connected to the driving wheel. The driving wheel includes a meshing ring portion for meshing and transmission-cooperating with the linear transmission body.

3. According to claim 2, a corridor climbing inspection robot is characterized in that: The support rail plate has a first arc segment, and the radial direction of the first arc segment is parallel to the plane where the track support ribs are located; The self-propelled mechanism includes a rocker suspension for carrying the driving wheel and a pressing elastic body for forcing the driving wheel to press against the supporting rail plate. The rotary drive source is arranged on the rocker suspension, and the rotating end of the rotary drive source is connected to the driving wheel through a transmission belt.

4. The corridor climbing inspection robot according to claim 2, characterized in that: The supporting rail plate has a second arc segment, and the radial direction of the second arc segment is parallel to the plane where the ground-contacting rail plate is located; The self-propelled mechanism is rotatably connected to the main frame, and the rotation axis of the self-propelled mechanism is perpendicular to the rotation axis of the driving wheel and the spacing direction of the two self-propelled mechanisms.

5. The corridor climbing inspection robot according to claim 2, characterized in that: The support rail plate has a first arc segment, and the radial direction of the first arc segment is parallel to the plane where the track support ribs are located; The self-propelled mechanism includes a rocker suspension for carrying the driving wheel, and a pressing elastic body for forcing the driving wheel to press against the supporting rail plate, the rotary drive source is arranged on the rocker suspension, and the rotating end of the rotary drive source is connected to the driving wheel through a transmission belt; The supporting rail plate has a second arc segment, and the radial direction of the second arc segment is parallel to the plane where the ground-contacting rail plate is located; The self-propelled mechanism is rotatably connected to the main frame, and the rotation axis of the self-propelled mechanism is perpendicular to the rotation axis of the driving wheel and the spacing direction of the two self-propelled mechanisms.

6. A corridor climbing inspection robot according to any one of claims 2 to 5, characterized in that: The self-propelled mechanism comprises a carrying frame for carrying the position-limiting sliding part and the traveling driving part.

7. The corridor climbing inspection robot according to claim 6, characterized in that: The two matching brackets are respectively provided with third side guard rollers which are arranged opposite to each other, and the wheel surfaces of the third side guard rollers are arranged opposite to the side walls of the supporting rail plate.

8. The corridor climbing inspection robot according to claim 6, characterized in that: The first laminating roller has a telescopic elastic floating displacement.

9. The corridor climbing inspection robot according to claim 1, characterized in that: The displacement mechanical arm comprises a first rotating arm arranged on the main base, a second rotating arm arranged on the free end of the first rotating arm, and a third rotating arm arranged on the free end of the second rotating arm, and the image acquisition unit is arranged on the third rotating arm; The rotation axis of the first rotating arm is parallel to the travel direction of the inspection robot, and the rotation axes of the second rotating arm and the third rotating arm are respectively parallel to the rotation axis of the first rotating arm; The image acquisition direction of the image acquisition part is perpendicular to the rotation axis of the first rotating arm.

10. The corridor climbing inspection robot according to claim 1, characterized in that: The inspection image acquisition device includes an image acquisition end and a supplementary light source arranged around the image acquisition end.

Images