Inspection robot carrying maintenance device, method and system thereof

Abstract

The invention relates to the technical field of accessory devices of inspection robot equipment, in particular to an inspection robot carrying an overhauling device, a method and a system thereof, and provides the inspection robot carrying the overhauling device, the method and the system thereof, which can carry out effective emergency by changing a working method of the inspection robot and carrying out unified inspection and overhauling. The inspection method comprises the following steps: determining an inspection route, enabling an inspection robot to inspect along the established route, sending equipment and environment signals in real time and at regular time, and determining the state conditions of the environment and the inspection robot through the determination and deficiency of the signals; in an emergency, the inspection robot is started to carry out double operations of alarming and emergency processing according to field conditions, and manual operation can be carried out by carrying out Iot interconnection; multifunctional emergency treatment is carried out through emergency equipment of the inspection robot and carrying pliers and scissors.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robot equipment accessories, and in particular to an inspection robot equipped with an inspection device, a method and a system thereof. Background Art

[0002] With the development of the times, robots have gradually come into people's vision. The research and development of quadruped robots is an interdisciplinary field, involving knowledge of multiple disciplines such as mechanical engineering, electronic engineering, and computer science. Quadruped robots are robots that imitate the way animals walk. They move through four legs, and this design enables robots to move freely in complex terrains. Quadruped robots have broad application potential in scientific research, education, entertainment, and even military fields. Among them, in the field of power inspection, with the development and progress of robots, their excellent mobility function and inspection automation function make them widely popular; When using an existing inspection robot, it is first placed in an appropriate position so that it can inspect along a predetermined direction, and then it will sound an alarm according to the emergency situation along the inspection route, and perform inspection and maintenance. It has been found in the use of existing inspection robots that the inspection method and maintenance process of the inspection robot are too fragmented, resulting in the inability to obtain real-time and effective emergency treatment when a power equipment fails, resulting in untimely maintenance, thus resulting in low equipment working efficiency. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an inspection robot equipped with an inspection and maintenance device, a method and a system thereof which change the working method of the inspection robot, unify inspection and maintenance for effective emergency response.

[0004] The present invention discloses an inspection robot, method and system equipped with an inspection and maintenance device, comprising an inspection robot body and a carrying device, wherein the carrying device is evenly installed on the inspection robot body, and the carrying device also comprises an unfolding device, a supporting device, a rotating mechanism, an adjusting device, a telescopic device, a clamping device and a shearing device, wherein the connecting end of the unfolding device is connected to the bottom end of the inspection robot body, and the unfolding device is provided with four groups of first mounting seats, and the supporting devices are respectively rotatably connected to the supporting devices through corresponding first mounting seats, and the connecting end of the rotating mechanism is connected to the top end of the inspection robot body, and the rotating mechanism is provided with two groups of second mounting seats, and the adjusting device is rotatably connected to the rotating mechanism through the second mounting seat, and the telescopic device is evenly installed on the adjusting device, and the telescopic device is provided with two groups of third mounting seats, and the clamping device and the shearing device are respectively rotatably connected to the telescopic device through corresponding third mounting seats.

[0005] Preferably, the deployment device also includes a base plate, a first bolt, a first motor, a bidirectional screw rod, a slider, a first connecting rod and a support block. The connecting end of the base plate is connected to the bottom end of the inspection robot body. The base plate and the inspection robot body are provided with first screw holes. Four groups of first bolts pass through the corresponding first screw holes and are threadedly connected to the base plate and the inspection robot body. Two groups of first machine bases are provided on the base plate. The connecting ends of the two groups of first motors are respectively connected to the connecting ends of the corresponding first machine bases. The output ends of the two groups of first motors pass through the corresponding first machine bases and the corresponding connecting ends of the bidirectional screw rods respectively. Connection, the two groups of connecting ends of the bidirectional screw are respectively connected to the corresponding first machine base bearings, a slide rail is arranged on the bottom plate, the two groups of sliders are slidably connected through the slide rail and the bottom plate, the two groups of sliders are provided with threaded holes, the two groups of output ends of the bidirectional screw are respectively threadedly connected with the corresponding sliders through the corresponding threaded holes, a fourth mounting seat is arranged on the bottom plate, the two groups of support blocks are respectively threadedly connected with the bottom plate through the corresponding fourth mounting seats, the two groups of support blocks and the two groups of sliders are provided with reamed holes, and the connecting ends of the two groups of first connecting rods are respectively threadedly connected with the corresponding support blocks and the sliders through the corresponding reamed holes.

[0006] Preferably, the supporting device also includes a second motor, a gear rod, a first electric push rod, a support rod and a base, the four groups of gear rods respectively pass through the corresponding first mounting seats and are rotatably connected to the corresponding support blocks, the racks of multiple groups of corresponding gear rods are meshed with each other, the connecting ends of the two groups of second motors are respectively connected to the connecting ends of the corresponding support blocks, the output ends of the two groups of second motors respectively pass through the corresponding first mounting seats and are connected to the connecting ends of the corresponding gear rods, long grooves are provided on the four groups of gear rods, the four groups of support rods respectively pass through the corresponding long grooves and are slidably connected to the corresponding gear rods, the connecting ends of the four groups of first electric push rods are respectively connected to the connecting ends of the corresponding gear rods, the output ends of the four groups of first electric push rods are respectively connected to the connecting ends of the corresponding support rods, and the connecting ends of the four groups of support rods are respectively rotatably connected to the connecting ends of the corresponding bases.

[0007] Preferably, the rotating mechanism also includes a fixed plate, an electric turntable, an annular rail and a placement plate. The connecting end of the fixed plate is connected to the top of the inspection robot body. A machine hole is provided on the fixed plate. The electric turntable passes through the machine hole and is fixed to the fixed plate. The connecting end of the annular rail is connected to the top of the fixed plate. The connecting end of the placement plate is connected to the output end of the electric turntable. An annular groove is provided on the placement plate. The annular rail passes through the annular groove and is slidably connected to the placement plate.

[0008] Preferably, the adjusting device also includes a tripod, a hydraulic cylinder, a second electric push rod and a support frame. The connecting end of the tripod passes through the second mounting seat and is rotatably connected to the placement plate. A capstan seat is provided on the placement plate. The connecting end of the hydraulic cylinder is rotatably connected to the capstan seat. The output end of the hydraulic cylinder is hinged to the connecting end of the tripod. An axial hole is provided on the support frame. The connecting end of the tripod passes through the axial hole and is rotatably connected to the support frame. Both the tripod and the support frame are provided with connecting seats. The connecting end and the output end of the second electric push rod respectively pass through the corresponding connecting seats and are rotatably connected to the tripod and the support frame.

[0009] Preferably, the telescopic device also includes guide rails, a third electric push rod, an insertion rod, a swing electric cylinder, a swing frame and a rocker arm. The connecting ends of the two sets of guide rails are connected to the connecting ends of the support frame. The support frame is provided with a groove. The third electric push rod passes through the groove and is fixedly mounted on the support frame. The connecting end of the insertion rod is connected to the output end of the third electric push rod. Two sets of guide grooves are provided on the insertion rod. The two sets of guide rails pass through the corresponding guide grooves respectively and are slidably connected to the insertion rod. The connecting end of the swing electric cylinder is connected to the connecting end of the insertion rod, and the output end of the swing electric cylinder is connected to the connecting end of the swing frame. Through holes are provided on the swing frame and the insertion rod. The connecting ends of the two sets of rocker arms pass through the corresponding through holes respectively and are rotatably connected to the swing frame and the insertion rod.

[0010] Preferably, the clamping device also includes a third motor, an adjusting rod, a fourth motor, a flap, a bending rod, a joint, a fourth electric push rod, a sliding sleeve, a cam and a pliers. The connecting ends of the two groups of adjusting rods respectively pass through the corresponding third mounting seats and are rotatably connected to the swing frame. The connecting ends of the two groups of third motors are connected to the top of the swing frame. The output ends of the two groups of third motors respectively pass through the corresponding third mounting seats and are connected to the connecting ends of the corresponding adjusting rods. The connecting ends of the two groups of fourth motors are respectively connected to the connecting ends of the corresponding adjusting rods. The output ends of the two groups of fourth motors are respectively connected to the connecting ends of the corresponding flaps. A fifth mounting seat is provided, and two groups of connecting ends of the bending rod pass through the corresponding fifth mounting seats respectively and are rotatably connected to the corresponding flap and the joint. Multiple groups of fifth mounting seats are equipped with motors. The connecting ends of the two groups of fourth electric push rods are connected to the connecting ends of the corresponding joints. The sliding sleeves are slidably connected to the corresponding joints. The connecting ends of the sliding sleeves are connected to the output ends of the two groups of fourth electric push rods. Positioning seats are provided on the corresponding joints. The two groups of pliers pass through the corresponding positioning seats respectively and are rotatably connected to the joints. The connecting ends of the two groups of cams are respectively connected to the connecting ends of the corresponding pliers, and the connecting ends of the two groups of cams are hinged to the output ends of the sliding sleeves.

[0011] Preferably, the shearing device also includes a fifth motor, a rotating block, a sixth motor, a driving rod, a driven rod and a clamp, the connecting end of the fifth motor is connected to the connecting end of the corresponding joint, the output end of the fifth motor is connected to the connecting end of the rotating block, a mounting groove is provided on the rotating block, the connecting ends of the two groups of driving rods and the two groups of driven rods are rotatably connected to the mounting grooves, the racks on the two groups of driving rods are meshed with each other, the connecting ends of the two groups of clamps are respectively hinged to the corresponding driving rod and the driven rod, and the connecting end of the sixth motor passes through the mounting groove and is connected to the connecting end of the corresponding driving rod.

[0012] Preferably, the method further comprises: S1: Determine the inspection route, make the inspection robot inspect along the established route, send equipment and environment signals in real time and regularly, and determine the status of the environment and the inspection robot through the confirmation and absence of signals; S2: In case of emergency, the inspection robot is started to perform alarm and emergency handling operations according to the on-site situation, and IoT interconnection can be used for manual operation; S3: Multifunctional emergency response is carried out through the inspection robot’s emergency equipment and onboard pliers and scissors.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: during the inspection process of the quadruped robot, the deployment device is started to cooperate with the support device to support the bottom of the quadruped robot, thereby improving the support stability during the equipment maintenance process; (2) By starting the rotating mechanism and adjusting device, the position and angle of the maintenance components of the equipment are adjusted to improve the flexibility of the equipment; (3) By activating the shearing device and the clamping device to deal with specific problems in an emergency, the risk of power failure is reduced and the functionality of the equipment is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the connection structure between the fixed plate and the electric turntable of the present invention; Figure 3 It is a schematic diagram of the connection structure between the base plate and the bidirectional screw rod of the present invention; Figure 4 It is a partial enlarged structural schematic diagram of A of the present invention; Figure 5 It is a schematic diagram of the connection structure between the tripod and the support frame of the present invention; Markings in the attached drawings: 1, inspection robot body; 201, first mounting seat; 202, second mounting seat; 203, third mounting seat; 301, bottom plate; 302, first bolt; 303, bidirectional screw rod; 304, slider; 305, first connecting rod; 306, support block; 307, first screw hole; 308, first machine base; 309, slide rail; 310, fourth mounting seat; 311, reaming hole; 312, first motor; 313, threaded hole; 401, second motor; 402, gear rod; 403, first electric push rod; 404, support rod; 405, base; 406, long groove; 501, fixing plate; 502, electric turntable; 503, circular rail; 504, placement plate; 505, machine hole; 506, circular groove; 601, tripod; 602, hydraulic cylinder; 603, first electric push rod; 604, support rod; 605, first electric push rod; 606, first electric push rod; 607, first electric push rod; 608, first electric push rod; 609, first electric push rod; 610, first electric push rod; 611, first electric push rod; 612, first electric push rod; 613, first electric push rod; 614, first electric push rod; 615, first electric push rod; 616, first electric push rod; 617, first electric push rod; 618, first electric push rod; 619, first electric push rod; 620, first electric push rod; 621, first electric push rod; 622, first electric push rod; 623, first electric push rod; 624, first electric push rod; 625, first electric push rod; 626, first electric push rod; 627, 03, the second electric push rod; 604, the support frame; 605, the capstan seat; 606, the shaft hole; 607, the connecting seat; 701, the guide rail; 702, the third electric push rod; 703, the plug rod; 704, the swing cylinder; 705, the swing frame; 706, the rocker; 707, the groove; 708, the guide groove; 709, the through hole; 801, the third motor; 802, the adjustment rod; 803, the fourth motor; 804, the flap; 805, the bending rod; 806, the joint; 807, the fourth electric push rod; 808, the sliding sleeve; 809, the cam; 810, the pliers; 811, the fifth mounting seat; 812, the motor; 813, the positioning seat; 901, the fifth motor; 902, the rotating block; 903, the sixth motor; 904, the driving rod; 905, the driven rod; 906, the clamp; 907, the mounting groove. DETAILED DESCRIPTION

[0015] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0016] Embodiment 1: A patrol inspection method and system equipped with a maintenance device according to the present invention further includes: S1: The inspection robot is started to work and run along the established route. During this process, the robot goes around the inspection route to make an environmental safety report and conduct a self-inspection report within 24 hours to ensure the safety of the inspection and the stability of the equipment. S2: In this process, real-time maintenance is carried out after inspection, and with the maintenance tools installed, inspection and maintenance are combined to reduce the probability of missing the best maintenance time and improve the functionality of the equipment; S3: In case of emergency, the inspection robot is started to perform alarm and emergency handling operations according to the on-site situation, and IoT interconnection can be used for manual operation; By combining inspection and emergency response, the functionality of the equipment is greatly improved.

[0017] Embodiment 2: An inspection robot, method and system equipped with an inspection device according to the present invention further includes: S1: During the maintenance of the quadruped robot, the unfolding device is started to start the first motor to rotate on the bottom plate. During the rotation, the bidirectional lead screw connected thereto is driven to rotate. The opposite threads on the bidirectional lead screw are rotated to drive the sliders to slide in opposite directions. The sliding drives the first connecting rod to push or pull the support block, thereby unfolding the support device. S2: During this process, the second motor is started to drive the gear rod connected to it to rotate, and the gear rods are meshed through the racks provided therewith, so that the two sets of gear rods are expanded or contracted. When expanded, the triangular support structure supports the ground, and when contracted, the gear rods are closed together on the bottom plate for storage; S3: When the gear rod is unfolded, the first electric push rod is started to drive the support rod to slide, and the base is freely rotated to stably support the ground at different heights and angles.

[0018] As a preferred embodiment of the above embodiment, it also includes: installing the base plate through the first bolt to make it more convenient to disassemble and repair, thereby improving the modularization level of the equipment; and adding a texture structure at the bottom of the base to improve the supporting friction of the equipment.

[0019] The four groups of robots are supported by the deployment device and the supporting device, thereby improving the stability of the equipment during maintenance and the level of automation of lifting and lowering.

[0020] Embodiment 3: An inspection robot, method and system equipped with an inspection device according to the present invention further includes: S1: The maintenance device is loaded through the rotating mechanism and supported by the fixed plate. The electric turntable is started to drive the placement plate to rotate, and the placement plate is stabilized with the ring rail to prevent the electric turntable from being damaged by excessive weight of the equipment. S2: During this process, the adjustment device is started, and the hydraulic cylinder is started to drive the tripod to rotate. The equipment is supported by the stable support structure of the tripod, and the inverted triangle of the support frame is used to stably support and adjust the equipment. S3: During the adjustment process, the second electric push rod and the hydraulic cylinder are started to rotate the tripod and the support frame, so that they present an arc-shaped lifting curve, and perform a half-lifting and half-extending deployment to further supplement the auxiliary displacement for equipment maintenance.

[0021] The position of the equipment can be adjusted by cooperating with the adjusting device and the rotating mechanism, which greatly improves the automation level of the equipment.

[0022] As a preferred embodiment of the above-mentioned embodiments, the present invention is an inspection robot, method and system equipped with a maintenance device, and the telescopic device also includes: by starting the third electric push rod to telescope, so that it drives the insertion rod to slide on the guide rail, and the sliding position of the insertion rod is limited and stabilized by the guide rail; in this process, the swing electric cylinder is started to drive the swing frame to swing, so that the swing frame swings slightly, which can improve the flexibility of maintenance work; in this process, a rocker is added to provide stable support for the swing frame.

[0023] The equipment is assisted in extension by the telescopic device, which greatly improves the automation level of the equipment.

[0024] Embodiment 4: An inspection robot, method and system equipped with an inspection device according to the present invention further includes: S1: By starting the clamping device and the shearing device, the third motor is started to rotate the adjustment rod, so that the spacing between the two sets of equipment is adjusted and the horizontal adjustment is performed. In this process, the motor is started to drive the bending rod to rotate on the flap and the joint, so that the bending plate and the joint are bent and rotated, and the angle and position of the joint are adjusted longitudinally; S2: During this process, the fourth electric push rod is started to drive the sliding sleeve connected thereto to slide, so that the fourth electric push rod drives the cam to rotate. As the angle of the cam changes, the pliers are expanded or contracted to perform shearing processing; S3: During this process, the fifth motor is started to drive the rotating block to rotate, and the horizontal and vertical directions of the clamp are adjusted. During this process, the sixth motor is started to drive the driving rod connected to it to rotate, and the meshing relationship between the driving rods drives the clamp to contract or open. The clamp is equipped with multiple sets of textures to facilitate clamping of door frames or door opening devices. The tip of the clamp is provided with a tool clamping groove to facilitate clamping and replacement of tools such as screwdrivers.

[0025] The functionality of the equipment is greatly improved by the maintenance of the power area through shearing devices and clamping devices.

[0026] The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

[0027] The “first”, “second” and “third” in the present invention do not represent specific quantities and orders, but are merely used to distinguish names.

[0028] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A patrol robot equipped with a maintenance device, a method and a system thereof, comprising a patrol robot body (1) and a carrying device, wherein the carrying device is evenly mounted on the patrol robot body (1); characterized in that: The mounting device further comprises an unfolding device, a supporting device, a rotating mechanism, an adjusting device, a telescopic device, a clamping device and a shearing device. The connecting end of the unfolding device is connected to the bottom end of the inspection robot body (1). Four groups of first mounting seats (201) are arranged on the unfolding device. The supporting devices respectively pass through corresponding first mounting seats (201) and are rotatably connected to the supporting devices. The connecting end of the rotating mechanism is connected to the top end of the inspection robot body (1). Two groups of second mounting seats (202) are arranged on the rotating mechanism. The adjusting device passes through the second mounting seats (202) and is rotatably connected to the rotating mechanism. The telescopic device is evenly mounted on the adjusting device. Two groups of third mounting seats (203) are arranged on the telescopic device. The clamping device and the shearing device respectively pass through corresponding third mounting seats (203) and are rotatably connected to the telescopic device.

2. The inspection robot, method and system equipped with an inspection device according to claim 1, characterized in that: The unfolding device further comprises a base plate (301), a first bolt (302), a first motor (312), a bidirectional screw rod (303), a slider (304), a first connecting rod (305) and a supporting block (306); a connecting end of the base plate (301) is connected to the bottom end of the inspection robot body (1); first screw holes (307) are provided through the base plate (301) and the inspection robot body (1); four groups of first bolts (302) respectively pass through corresponding first screw holes (307) and are threadedly connected to the base plate (301) and the inspection robot body (1); two groups of first machine bases (308) are provided on the base plate (301); connecting ends of the two groups of first motors (312) are respectively connected to connecting ends of corresponding first machine bases (308); output ends of the two groups of first motors (312) respectively pass through corresponding first machine bases (308) and are connected to corresponding connecting ends of the bidirectional screw rod (303); the bidirectional screw rod ( The two groups of connecting ends of the two-way screw rod (303) are respectively connected to the corresponding first machine base (308) bearings, a slide rail (309) is provided on the bottom plate (301), the two groups of sliders (304) pass through the slide rail (309) and are slidably connected to the bottom plate (301), the two groups of sliders (304) are respectively provided with threaded holes (313), the two groups of output ends of the two-way screw rod (303) pass through the corresponding threaded holes (313) and are threadedly connected to the corresponding sliders (304), a fourth mounting seat (310) is provided on the bottom plate (301), the two groups of support blocks (306) pass through the corresponding fourth mounting seats (310) and are rotatably connected to the bottom plate (301), the two groups of support blocks (306) and the two groups of sliders (304) are respectively provided with reaming holes (311), and the connecting ends of the two groups of first connecting rods (305) pass through the corresponding reaming holes (311) and are rotatably connected to the corresponding support blocks (306) and the sliders (304).

3. The inspection robot, method and system equipped with an inspection device as claimed in claim 2, characterized in that: The supporting device further comprises a second motor (401), a gear rod (402), a first electric push rod (403), a support rod (404) and a base (405); the four groups of gear rods (402) respectively pass through the corresponding first mounting seats (201) and are rotatably connected to the corresponding support blocks (306); the racks of the multiple groups of corresponding gear rods (402) are meshed with each other; the connection ends of the two groups of second motors (401) are respectively connected to the connection ends of the corresponding support blocks (306); the output ends of the two groups of second motors (401) respectively pass through the corresponding first mounting seats (201) and are connected to the corresponding support blocks (306); The four groups of gear rods (402) are connected to the connecting ends of the corresponding gear rods (402), and the four groups of support rods (404) are respectively provided with long slots (406). The four groups of support rods (404) respectively pass through the corresponding long slots (406) and are slidably connected to the corresponding gear rods (402). The connecting ends of the four groups of first electric push rods (403) are respectively connected to the connecting ends of the corresponding gear rods (402). The output ends of the four groups of first electric push rods (403) are respectively connected to the connecting ends of the corresponding support rods (404). The connecting ends of the four groups of support rods (404) are respectively rotatably connected to the connecting ends of the corresponding bases (405).

4. The inspection robot, method and system equipped with an inspection device as claimed in claim 3, characterized in that: The rotating mechanism further comprises a fixed plate (501), an electric turntable (502), an annular rail (503) and a placement plate (504); a connection end of the fixed plate (501) is connected to the top of the inspection robot body (1); a machine hole (505) is provided on the fixed plate (501); the electric turntable (502) passes through the machine hole (505) and is fixedly mounted on the fixed plate (501); a connection end of the annular rail (503) is connected to the top of the fixed plate (501); a connection end of the placement plate (504) is connected to the output end of the electric turntable (502); an annular groove (506) is provided on the placement plate (504); the annular rail (503) passes through the annular groove (506) and is slidably connected to the placement plate (504).

5. The inspection robot, method and system equipped with an inspection device as claimed in claim 4, characterized in that: The adjusting device further comprises a tripod (601), a hydraulic cylinder (602), a second electric push rod (603) and a support frame (604); the connecting end of the tripod (601) passes through the second mounting seat (202) and is rotatably connected to the placement plate (504); a capstan seat (605) is provided through the placement plate (504); the connecting end of the hydraulic cylinder (602) is rotatably connected to the capstan seat (605); the output end of the hydraulic cylinder (602) is hinged to the connecting end of the tripod (601); an axial hole (606) is provided on the support frame (604); the connecting end of the tripod (601) passes through the axial hole (606) and is rotatably connected to the support frame (604); both the tripod (601) and the support frame (604) are provided with a connecting seat (607); the connecting end and the output end of the second electric push rod (603) respectively pass through the corresponding connecting seat (607) and are rotatably connected to the tripod (601) and the support frame (604).

6. The inspection robot, method and system equipped with an inspection device according to claim 5, characterized in that: The telescopic device further comprises a guide rail (701), a third electric push rod (702), an insertion rod (703), a swing electric cylinder (704), a swing frame (705) and a rocker (706); the connection ends of the two sets of guide rails (701) are connected to the connection ends of the support frame (604); a groove (707) is provided on the support frame (604); the third electric push rod (702) passes through the groove (707) and is fixedly mounted on the support frame (604); the connection end of the insertion rod (703) is connected to the output end of the third electric push rod (702); the insertion rod (703) is provided with a Two groups of guide grooves (708) are provided, and the two groups of guide rails (701) respectively pass through the corresponding guide grooves (708) and are both slidably connected to the insertion rod (703); the connection end of the swing electric cylinder (704) is connected to the connection end of the insertion rod (703); the output end of the swing electric cylinder (704) is connected to the connection end of the swing frame (705); the swing frame (705) and the insertion rod (703) are both provided with through holes (709); the connection ends of the two groups of rocking arms (706) respectively pass through the corresponding through holes (709) and are rotationally connected to the swing frame (705) and the insertion rod (703).

7. The inspection robot, method and system equipped with an inspection device according to claim 6, characterized in that: The clamping device further comprises a third motor (801), an adjusting rod (802), a fourth motor (803), a flap (804), a bending rod (805), a joint (806), a fourth electric push rod (807), a sliding sleeve (808), a cam (809) and a pliers (810). The connecting ends of the two groups of adjusting rods (802) respectively pass through the corresponding third mounting seats (203) and are both rotatably connected to the swing frame (705). The connecting ends of the two groups of third motors (801) are both connected to the top of the swing frame (705). The output ends of the two groups of third motors (801) respectively pass through the corresponding third mounting seats (203) and are connected to the connecting ends of the corresponding adjusting rods (802). The connecting ends of the two groups of fourth motors (803) are respectively connected to the connecting ends of the corresponding adjusting rods (802). The output ends of the two groups of fourth motors (803) are respectively connected to the connecting ends of the corresponding flaps (804). The two groups of flaps (804) and the two groups of joints (80 6) are provided with a fifth mounting seat (811), two groups of connection ends of the bending rod (805) respectively pass through the corresponding fifth mounting seat (811) and are rotatably connected to the corresponding flap (804) and the joint (806), multiple groups of fifth mounting seats (811) are equipped with a motor (812), the connection ends of the two groups of fourth electric push rods (807) are connected to the connection ends of the corresponding joint (806), the sliding sleeve (808) is slidably connected to the corresponding joint (806), the connection end of the sliding sleeve (808) is connected to the output ends of the two groups of fourth electric push rods (807), and a positioning seat (813) is provided on the corresponding joint (806), the two groups of pliers (810) respectively pass through the corresponding positioning seat (813) and are rotatably connected to the joint (806), the connection ends of the two groups of cams (809) are respectively connected to the connection ends of the corresponding pliers (810), and the connection ends of the two groups of cams (809) are hinged to the output end of the sliding sleeve (808).

8. The inspection robot, method and system equipped with an inspection device as claimed in claim 7, characterized in that: The shearing device further comprises a fifth motor (901), a rotating block (902), a sixth motor (903), a driving rod (904), a driven rod (905) and a clamp (906); the connection end of the fifth motor (901) is connected to the connection end of the corresponding joint (806); the output end of the fifth motor (901) is connected to the connection end of the rotating block (902); a mounting groove (907) is provided on the rotating block (902); the connection ends of the two groups of driving rods (904) and the two groups of driven rods (905) are both rotatably connected to the mounting groove (907); the racks on the two groups of driving rods (904) are meshed with each other; the connection ends of the two groups of clamps (906) are respectively hinged to the corresponding driving rods (904) and the driven rods (905); and the connection end of the sixth motor (903) passes through the mounting groove (907) and is connected to the connection end of the corresponding driving rod (904).

9. An inspection robot equipped with an inspection device, a method and a system thereof, characterized in that: Also includes maintenance methods: S1: Determine the inspection route, make the inspection robot inspect along the established route, send equipment and environment signals in real time and regularly, and determine the status of the environment and the inspection robot through the confirmation and absence of signals; S2: In case of emergency, the inspection robot is started to perform alarm and emergency handling operations according to the on-site situation, and IoT interconnection can be used for manual operation; S3: Multifunctional emergency response is carried out through the inspection robot’s emergency equipment and onboard pliers and scissors.

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