Safety inspection robot

Abstract

The invention belongs to the technical field of inspection machines, and particularly relates to a safety inspection robot which comprises a robot body with a walking wheel assembly, an inspection camera is movably installed on the top of the robot body, the inspection camera comprises two cameras, and the two cameras are distributed at 180 degrees. An inner partition plate is fixedly mounted in the robot body, and a reciprocating sliding block is movably mounted on the right side of the inner partition plate. According to the robot, when the swinging sliding plates move out of the robot body, the driving single-shaft motor is started to drive the pushing shaft to rotate by a certain angle, then the elliptical touch plate can push the two swinging sliding plates, the T-shaped swinging block is made to rotate on the movable shaft, the two swinging sliding plates do the unfolding action, sundries on the advancing path are pushed outwards, and the moving path of the robot is driven to move outwards. Interference of sundries and the like on a normal inspection route of the inspection robot is avoided, the double lenses can be cleaned, and the inspection definition is guaranteed.

Description

Technical Field

[0001] The invention relates to an inspection robot, in particular to a safety inspection robot. Background Art

[0002] Inspection robots are increasingly used in outdoor substations, industrial parks, construction sites, and other places to replace humans in repetitive, observational, and even operational work. During the construction process, in order to facilitate remote workers to grasp the current construction status in a timely manner, robots will be used to conduct regular inspections of the current construction area. Inspection robots have become a trend in industrial parks to replace manual work. They are highly reliable and equipped with special sensors to complete tasks that humans cannot complete, such as infrared temperature measurement, hazardous gas sampling, etc. At present, most outdoor robots are four-wheel all-wheel drive and have strong power.

[0003] However, when existing inspection robots are moving, if they encounter obstacles such as debris in front of them, it is difficult for them to clean up the debris, which can easily block their own moving routes. The inspection probes are prone to dust after long-term work, which affects the clarity of the inspection. The inspection links of inspection robots in industrial parks include: sampling the air in the working environment, and then testing the gas to ensure the safety of the working environment. However, the sampling effect of existing inspection robots is not good.

[0004] In view of this, the present invention designs a safety inspection robot. Summary of the invention

[0005] The main purpose of the present disclosure is to provide a safety inspection robot to effectively solve the problems raised by the inventor in the above background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A safety inspection robot, comprising a robot body with a walking wheel assembly, an inspection camera movably mounted on the top of the robot body, and the inspection camera is a dual camera, the dual cameras are arranged in a 180-degree distribution, an inner partition is fixedly mounted inside the robot body, and a reciprocating slider is movably mounted on the right side of the inner partition, the lower end of the right side of the reciprocating slider is fixedly connected to two parallel straight plates, the right ends of the two straight plates are movably connected to a swinging slide plate, the swinging slide plate is slidably penetrated and mounted on the right side plate of the robot body, and the cross-sectional size of the swinging slide plate is equal to the cross-sectional size of the straight plate, the right end of the swinging slide plate is located outside the robot body and bent downward, a gas collecting cylinder is mounted inside the robot body, and the top of the gas collecting cylinder extends upward to the outside of the robot body, and anti-collision frames are fixedly mounted on both sides of the robot body;

[0008] A slide plate storage mechanism, the slide plate storage mechanism is used to drive the reciprocating slide plate to move left and right;

[0009] A skateboard swing mechanism, the skateboard swing mechanism is used to drive the swing skateboard to rotate;

[0010] A lens cleaning component, wherein the lens cleaning component is used to clean the inspection camera;

[0011] A rotating mechanism, the rotating mechanism is used to drive the inspection camera to rotate;

[0012] A gas sampling mechanism is used to sample the air in an inspection environment, and the gas sampling mechanism is used in conjunction with a rotating mechanism.

[0013] Preferably, a movable opening is opened on the right side of the straight plate, a T-shaped pendulum block is fixedly connected to the left side of the swinging skateboard, a movable shaft is fixedly installed in the movable opening, the T-shaped pendulum block extends into the movable opening and is rotatably installed on the movable shaft, a torsion spring is fixedly connected between the T-shaped pendulum block and the inner wall of the movable opening, and the movable shaft passes through the torsion spring.

[0014] Preferably, the skateboard storage mechanism includes a pushing screw, a parallel slide bar and a servo motor, the pushing screw is rotatably installed between the inner partition and the right inner wall of the robot body, the parallel slide bar is fixedly installed between the inner partition and the right inner wall of the robot body, and the parallel slide bar is arranged parallel to the pushing screw, the reciprocating slider is threadedly installed on the pushing screw and slidably sleeved on the parallel slide bar, the servo motor is fixedly installed on the outside of the robot body, and the right end of the pushing screw is fixedly connected to the output shaft of the servo motor.

[0015] Preferably, the skateboard swinging mechanism includes a spreading shaft, an elliptical touch plate and a driving single-axis motor, the spreading shaft is rotatably mounted on the anti-collision frame on the right, and the lower end of the spreading shaft extends between the two swinging skateboards and is fixedly connected to the elliptical touch plate, the driving single-axis motor is fixedly mounted on the anti-collision frame on the right, and the top end of the spreading shaft is fixedly connected to the output shaft of the driving single-axis motor.

[0016] Preferably, the lens cleaning assembly includes a support rod and a soft cleaning brush, the support rod is fixedly mounted on the top of the robot body, and a soft cleaning brush is fixedly mounted on the back of the support rod, the soft cleaning brush faces the inspection camera, the rotating mechanism includes a fixed base, a support, a transposition gear, a driving dual-axis motor and a driving gear, a fixed base is fixedly mounted on the top of the robot body, and a support is rotatably mounted on the fixed base, the inspection camera is fixedly mounted on the top of the support, a transposition gear is fixedly mounted on the surface of the support, the driving dual-axis motor is fixedly mounted on the top of the robot body, and the upper end output shaft of the driving dual-axis motor is fixedly connected with the driving gear, the driving gear is meshed with the transposition gear, and the center of the soft cleaning brush is located on the trajectory of the circular motion of the lens of the inspection camera.

[0017] Preferably, the gas sampling mechanism includes a gas sampling tube, a first one-way valve, an exhaust pipe, a second one-way valve, a filter cover, a suction port and an inner piston. The gas sampling tube is fixedly connected to the side of the gas collecting tube, and the other end of the gas sampling tube is located outside the robot body. The gas sampling tube is equipped with a first one-way valve, the exhaust pipe is fixedly installed on the side of the gas collecting tube, and the end of the exhaust pipe located outside the robot body is fixedly connected to the filter cover, the exhaust pipe is equipped with a second one-way valve, a suction port is fixedly installed on the right side of the gas collecting tube, and an inner piston is slidably installed in the suction port, and a sealing plug is fixedly connected to the top of the gas collecting tube.

[0018] Preferably, the lower output shaft of the driving dual-axis motor is fixedly connected to the reciprocating shaft, and the bottom end of the reciprocating shaft is fixedly connected to a fan gear, the right end of the inner piston is located outside the suction port and is fixedly connected to an active tooth frame, the fan gear is located in the active tooth frame and meshes with one side of the teeth in the active tooth frame.

[0019] In view of this, compared with the prior art, the beneficial effects of the present invention are:

[0020] (1) In the present application, since the elliptical touch plate is located between the two swinging slides, when the swinging slide moves out of the robot body, the driving single-axis motor is turned on to drive the spreading shaft to rotate a certain angle, and then the elliptical touch plate can push the two swinging slides to make the T-shaped swing block rotate on the movable axis, and the two swinging slides will unfold to spread out the debris on the road, so as to prevent the debris from interfering with the normal inspection route of the inspection robot.

[0021] (ii) In the present application, when the inspection camera is to be cleaned, the driving dual-axis motor is turned on, which will drive the active gear to rotate. Under the transmission of the transposition gear, the support will slowly rotate with the inspection camera. When the inspection camera moves to the position of the soft cleaning brush, the lens of the inspection camera will be cleaned. Since the soft cleaning brush is located on the movement trajectory of the lens of the inspection camera, both lenses can be cleaned to ensure the clarity of the inspection.

[0022] (III) In the present application, when the dual-axis motor is driven to work, the other output shaft will drive the reciprocating shaft to rotate, causing the sector gear to rotate and driving the active tooth frame to move back and forth, and then driving the inner piston to slide in the suction port, so that the gas sampling tube draws the air in the working environment into the gas collecting tube, and the exhaust pipe discharges part of the gas in the gas collecting tube. The discharged gas is filtered and purified by the filter cover, and under the action of the two one-way valves, the sampled gas remains in the gas collecting tube, thereby achieving the function of automatic gas sampling, thereby improving the working efficiency and performance of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Shown is a schematic structural diagram of the safety inspection robot provided by the present invention;

[0024] Figure 2 The figure shows a schematic diagram of the internal structure of the safety inspection robot provided by the present invention;

[0025] Figure 3 Shown Figure 2 The enlarged schematic diagram of point A in the middle;

[0026] Figure 4 Shown Figure 2 Schematic diagram of the reciprocating slider moving to the right;

[0027] Figure 5 The figure shows a top view of the connection between the inspection camera and the top plate of the robot body;

[0028] Figure 6 The figure shows a top view of the connection between the transposition gear and the driving gear;

[0029] Figure 7 Shown Figure 4 A top view of the layout of the middle elliptical touch panel and the swinging slide plate;

[0030] Figure 8 Shown Figure 7 Schematic diagram of the middle elliptical touch plate after rotation;

[0031] Fig. 9 Shown is a schematic diagram of a gas sampling mechanism;

[0032] Fig.10Shown is a top view of the connection between the active tooth frame and the sector gear.

[0033] icon:

[0034] 1-Robot body;

[0035] 2-inspection camera; 201-fixed base; 202-transposition gear; 203-driving dual-axis motor; 204-driving gear; 205-reciprocating shaft; 2051-sector gear; 206-driving gear frame;

[0036] 3-inner partition; 301-reciprocating slider; 302-linear plate; 3021-movable shaft; 3022-torsion spring; 303-swinging slide plate; 303-T-shaped swing block; 304-advancing screw rod; 305-parallel slide rod; 306-servo motor;

[0037] 4-anti-collision frame; 401-opening shaft; 402-elliptical touch plate; 403-driving single-axis motor;

[0038] 5-gas collecting tube; 501-gas sampling tube; 502-exhaust pipe; 503-filter cover; 504-suction port; 505-inner piston; 506-sealing plug;

[0039] 6-lens cleaning assembly; 601-support rod; 602-soft cleaning brush. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0041] See also Figure 1-10 , the present invention provides the following embodiments:

[0042] A safety inspection robot comprises a robot body 1 with a walking wheel assembly, an inspection camera 2 is movably installed on the top of the robot body 1, and the inspection camera 2 is a dual camera, and the dual cameras are arranged in a 180-degree distribution, an inner partition plate 3 is fixedly installed inside the robot body 1, and a reciprocating slider 301 is movably installed on the right side of the inner partition plate 3, the lower end of the right side of the reciprocating slider 301 is fixedly connected to two parallel straight plates 302, the right ends of the two straight plates 302 are movably connected to a swinging slide plate 303, the swinging slide plate 303 is slidably installed on the right side plate of the robot body 1, and the cross-sectional size of the swinging slide plate 303 is equal to the cross-sectional size of the straight plate 302, the right end of the swinging slide plate 303 is located outside the robot body 1 and is bent downward, a gas collecting cylinder 5 is installed inside the robot body 1, and the top of the gas collecting cylinder 5 extends upward to the outside of the robot body 1, and anti-collision frames 4 are fixedly installed on both sides of the robot body 1;

[0043] The skateboard storage mechanism is used to drive the reciprocating skateboard to move left and right;

[0044] A slide plate swing mechanism, the slide plate swing mechanism is used to drive the swing slide plate 303 to rotate;

[0045] A lens cleaning component 6, which is used to clean the inspection camera 2;

[0046] A rotating mechanism, which is used to drive the inspection camera 2 to rotate;

[0047] The gas sampling mechanism is used to sample the air in the inspection environment, and the gas sampling mechanism is used in conjunction with the rotating mechanism.

[0048] Specifically, a movable opening is opened on the right side of the straight plate 302, and a T-shaped pendulum block 3031 is fixedly connected to the left side of the swinging slide plate 303. A movable shaft 3021 is fixedly installed in the movable opening. The T-shaped pendulum block 3031 extends into the movable opening and is rotatably installed on the movable shaft 3021. A torsion spring 3022 is fixedly connected between the T-shaped pendulum block 3031 and the inner wall of the movable opening, and the movable shaft 3021 passes through the torsion spring 3022.

[0049] Specifically, the skateboard storage mechanism includes a pushing screw 304, a parallel slide 305 and a servo motor 306. The pushing screw 304 is rotatably installed between the inner partition 3 and the right inner wall of the robot body 1. The parallel slide 305 is fixedly installed between the inner partition 3 and the right inner wall of the robot body 1, and the parallel slide 305 is arranged parallel to the pushing screw 304. The reciprocating slider 301 is threadedly installed on the pushing screw 304 and slidably sleeved on the parallel slide 305. The servo motor 306 is fixedly installed on the outside of the robot body 1, and the right end of the pushing screw 304 is fixedly connected to the output shaft of the servo motor 306.

[0050] Specifically, the skateboard swinging mechanism includes a disengaging shaft 401, an elliptical touch plate 402 and a driving single-axis motor 403. The disengaging shaft 401 is rotatably installed on the anti-collision frame 4 on the right side, and the lower end of the disengaging shaft 401 extends between the two swinging skateboards 303 and is fixedly connected with the elliptical touch plate 402. The driving single-axis motor 403 is fixedly installed on the anti-collision frame 4 on the right side, and the top end of the disengaging shaft is fixedly connected to the output shaft of the driving single-axis motor 403.

[0051] Specifically, the lens cleaning assembly 6 includes a support rod 601 and a soft cleaning brush 602. The support rod 601 is fixedly installed on the top of the robot body 1, and a soft cleaning brush 602 is fixedly installed on the back of the support rod 601, and the soft cleaning brush 602 faces the inspection camera 2. The rotating mechanism includes a fixed base 201, a support, a transposition gear 202, a driving dual-axis motor 203 and a driving gear 204. The top of the robot body 1 is fixedly installed with a fixed base 201, and a support is rotatably installed on the fixed base 201. The inspection camera 2 is fixedly installed on the top of the support, and a transposition gear 202 is fixedly installed on the surface of the support. The driving dual-axis motor 203 is fixedly installed on the top of the robot body 1, and the upper end output shaft of the driving dual-axis motor 203 is fixedly connected with the driving gear 204, and the driving gear 204 is meshed with the transposition gear 202. The center of the soft cleaning brush 602 is located on the trajectory of the circular motion of the lens of the inspection camera 2.

[0052] Specifically, the gas sampling mechanism includes a gas sampling tube 501, a first one-way valve, an exhaust pipe 502, a second one-way valve, a filter cover 503, a suction port 504 and an inner piston 505. The gas sampling tube 501 is fixedly connected to the side of the gas collecting tube 5, and the other end of the gas sampling tube 501 is located outside the robot body 1. The gas sampling tube 501 is equipped with a first one-way valve, the exhaust pipe 502 is fixedly installed on the side of the gas collecting tube 5, and the end of the exhaust pipe 502 located outside the robot body 1 is fixedly connected to the filter cover 503, the exhaust pipe 502 is equipped with a second one-way valve, the right side of the gas collecting tube 5 is fixedly installed with a suction port 504, and the inner piston 505 is slidably installed in the suction port 504, and the top of the gas collecting tube 5 is fixedly connected with a sealing plug 506.

[0053] Specifically, the first one-way valve only allows the fluid to enter the gas collecting cylinder 5 , and the second one-way valve only allows the fluid to flow out of the gas collecting cylinder 5 .

[0054] Specifically, the lower output shaft of the driving dual-axis motor 203 is fixedly connected to the reciprocating shaft 205, and the bottom end of the reciprocating shaft 205 is fixedly connected to the fan gear 2051. The right end of the inner piston 505 is located outside the suction port 504 and is fixedly connected to the active tooth frame 206. The fan gear 2051 is located in the active tooth frame 206 and meshes with one side of the teeth in the active tooth frame 206.

[0055] The specific implementation of this embodiment is as follows: when the robot body 1 is in use, it moves in the working area, and the inspection camera 2 monitors the working environment. If it encounters obstacles, the servo motor 306 works to drive the propulsion screw 304 to rotate, and the reciprocating slider 301 moves to the right along the parallel slider 305, so that the linear plate 302 moves with the swinging slide 303 to the outside of the robot body 1. The swinging slide 303 can push the obstacles and prevent the inspection camera 2 from being blocked, so that the robot body 1 can operate normally.

[0056] Since the elliptical touch plate 402 is located between the two swinging slides 303, when the swinging slide 303 moves out of the robot body 1, the driving single-axis motor 403 is turned on to drive the opening shaft 401 to rotate a certain angle, and then the elliptical touch plate 402 can push the two swinging slides 303 to make the T-shaped swing block 3031 rotate on the movable shaft 3021, and the two swinging slides 303 perform an unfolding action to open the debris on the road to avoid the debris from interfering with the normal inspection route of the inspection robot;

[0057] Under the action of the torsion spring 3022, the swinging slide 303 can be reset to a state flush with the straight plate 302, so that when the straight plate 302 moves to the left, the swinging slide 303 can be pulled into the robot body 1 to store the swinging slide 303, reducing the length of the robot body 1 so that it can shuttle smoothly;

[0058] When cleaning the inspection camera 2, the driving dual-axis motor 203 is turned on, which will drive the active gear 204 to rotate. Under the transmission of the transposition gear 202, the support and the inspection camera 2 are slowly rotated. When the inspection camera 2 moves to the position of the soft cleaning brush 602, the lens of the inspection camera 2 will be cleaned. Since the soft cleaning brush 602 is located on the lens movement trajectory of the inspection camera, both lenses can be cleaned to ensure the clarity of the inspection.

[0059] When the dual-axis motor 203 is driven to work, the other output shaft will drive the reciprocating shaft 205 to rotate, causing the sector gear 2051 to rotate and drive the active tooth frame 206 to move back and forth, and then drive the inner piston 405 to slide in the suction port 504, so that the gas sampling tube 501 draws the air in the working environment into the gas collection tube 5, and the exhaust pipe 502 will discharge part of the gas in the gas collection tube 5. The discharged gas is filtered and purified by the filter cover 503, and under the action of the two one-way valves, the sampled gas remains in the gas collection tube 5, so as to achieve the function of automatic gas sampling, thereby improving the working efficiency and performance of the inspection robot.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0061] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A safety inspection robot, characterized in that: The invention comprises a robot body (1) with a walking wheel assembly, a patrol camera (2) movably mounted on the top of the robot body (1), and the patrol camera (2) is a dual camera, and the dual camera is arranged at a 180-degree distribution, an inner partition (3) is fixedly mounted inside the robot body (1), and a reciprocating slider (301) is movably mounted on the right side of the inner partition (3), and the lower end of the right side of the reciprocating slider (301) is fixedly connected to two parallel straight plates (302), and the right ends of the two straight plates (302) are both movably connected to a swing A movable slide plate (303), wherein the swing slide plate (303) is slidably installed on the right side plate of the robot body (1), and the cross-sectional size of the swing slide plate (303) is equal to the cross-sectional size of the straight plate (302), the right end of the swing slide plate (303) is located outside the robot body (1) and is bent downward, a gas collection cylinder (5) is installed inside the robot body (1), and the top of the gas collection cylinder (5) extends upward to the outside of the robot body (1), and anti-collision frames (4) are fixedly installed on both sides of the robot body (1); A slide plate storage mechanism, the slide plate storage mechanism is used to drive the reciprocating slide plate to move left and right; A slide plate swing mechanism, the slide plate swing mechanism is used to drive the swing slide plate (303) to rotate; A lens cleaning component (6), wherein the lens cleaning component (6) is used to clean the inspection camera (2); A rotating mechanism, the rotating mechanism being used to drive the inspection camera (2) to rotate; A gas sampling mechanism is used to sample the air in an inspection environment, and the gas sampling mechanism is used in conjunction with a rotating mechanism.

2. A safety inspection robot according to claim 1, characterized in that: A movable opening is provided on the right side of the straight plate (302), a T-shaped swing block (3031) is fixedly connected to the left side of the swing slide plate (303), a movable shaft (3021) is fixedly installed in the movable opening, the T-shaped swing block (3031) extends into the movable opening and is rotatably installed on the movable shaft (3021), a torsion spring (3022) is fixedly connected between the T-shaped swing block (3031) and the inner wall of the movable opening, and the movable shaft (3021) passes through the torsion spring (3022).

3. A safety inspection robot according to claim 2, characterized in that: The slide plate storage mechanism comprises a propulsion screw (304), a parallel slide bar (305) and a servo motor (306); the propulsion screw (304) is rotatably mounted between the inner partition (3) and the right inner wall of the robot body (1); the parallel slide bar (305) is fixedly mounted between the inner partition (3) and the right inner wall of the robot body (1); the parallel slide bar (305) is arranged parallel to the propulsion screw (304); the reciprocating slider (301) is threadedly mounted on the propulsion screw (304) and slidably sleeved on the parallel slide bar (305); the servo motor (306) is fixedly mounted on the outer side of the robot body (1); and the right end of the propulsion screw (304) is fixedly connected to the output shaft of the servo motor (306).

4. A safety inspection robot according to claim 3, characterized in that: The slide plate swing mechanism comprises a disengaging shaft (401), an elliptical touch plate (402) and a driving single-axis motor (403); the disengaging shaft (401) is rotatably mounted on the right anti-collision frame (4), and the lower end of the disengaging shaft (401) extends between the two swing slide plates (303) and is fixedly connected to the elliptical touch plate (402); the driving single-axis motor (403) is fixedly mounted on the right anti-collision frame (4), and the top end of the disengaging shaft is fixedly connected to the output shaft of the driving single-axis motor (403).

5. A safety inspection robot according to claim 4, characterized in that: The lens cleaning assembly (6) comprises a support rod (601) and a soft cleaning brush (602), wherein the support rod (601) is fixedly mounted on the top of the robot body (1), and the back of the support rod (601) is fixedly mounted with the soft cleaning brush (602), and the soft cleaning brush (602) faces the inspection camera (2).

6. A safety inspection robot according to claim 5, characterized in that: The rotating mechanism comprises a fixed base (201), a support, a transposition gear (202), a driving dual-axis motor (203) and a driving gear (204); the fixed base (201) is fixedly mounted on the top of the robot body (1), and the support is rotatably mounted on the fixed base (201); the inspection camera (2) is fixedly mounted on the top of the support, and the transposition gear (202) is fixedly mounted on the surface of the support; the driving dual-axis motor (203) is fixedly mounted on the top of the robot body (1), and the upper end output shaft of the driving dual-axis motor (203) is fixedly connected to the driving gear (204); the driving gear (204) is meshed with the transposition gear (202); and the center of the soft cleaning brush (602) is located on the trajectory of the circular motion of the lens of the inspection camera (2).

7. A safety inspection robot according to claim 6, characterized in that: The gas sampling mechanism comprises a gas sampling tube (501), a first one-way valve, an exhaust pipe (502), a second one-way valve, a filter cover (503), a suction port (504) and an inner piston (505); the gas sampling tube (501) is fixedly connected to the side of the gas collection tube (5), and the other end of the gas sampling tube (501) is located outside the robot body (1); the gas sampling tube (501) is equipped with the first one-way valve; the exhaust pipe (502) is fixedly installed on the side of the gas collection tube (5), and one end of the exhaust pipe (502) located outside the robot body (1) is fixedly connected to the filter cover (503); the exhaust pipe (502) is equipped with the second one-way valve; the right side of the gas collection tube (5) is fixedly installed with a suction port (504), and the inner piston (505) is slidably installed in the suction port (504); and the top of the gas collection tube (5) is fixedly connected with a sampling sealing plug (506).

8. A safety inspection robot according to claim 7, characterized in that: The lower output shaft of the driving dual-axis motor (203) is fixedly connected to a reciprocating shaft (205), and the bottom end of the reciprocating shaft (205) is fixedly connected to a sector gear (2051). The right end of the inner piston (505) is located outside the suction port (504) and is fixedly connected to an active tooth frame (206). The sector gear (2051) is located inside the active tooth frame (206) and meshes with one side of the teeth inside the active tooth frame (206).

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