Rotation driving line mobile robot with autorotation function

Abstract

The invention discloses a rotation driving line mobile robot with autorotation, the robot comprises a shell, a walking mechanism and an autorotation mechanism, and the walking mechanism and the autorotation mechanism are installed in the shell; the cable is installed in the through hole of the shell in a penetrating mode. The walking mechanism comprises walking wheels, the walking wheels are rotationally installed in the shell, external threads are arranged on the outer surfaces of the walking wheels and are in threaded connection with the cable, and the walking wheels can move in the axial direction of the cable when rotating; the autorotation mechanism comprises an autorotation wheel installed in the shell, the autorotation wheel and the cable are tightly pressed, and when the autorotation wheel rotates, the autorotation wheel can move in the circumferential direction of the cable. The robot disclosed by the invention can move in the axial direction of the cable and can also rotate in the circumferential direction of the cable to adjust the angle of the robot, operation can be carried out only by carrying one camera, the load of the robot is reduced, and the robot can adapt to inspection requirements of cables of different specifications and is high in stability, low in cost and wide in application range.

Description

Technical Field

[0001] The invention belongs to the technical field of power transmission line patrol robots, and in particular relates to a rotationally driven line mobile robot with self-rotation. Background Art

[0002] Transmission line robots are automated transmission line equipment used to inspect and monitor the status of lines or pipelines. They are used in outdoor transmission lines, as well as in urban lines such as factories, warehouses, and logistics centers. Transmission line robots can be used to carry operating and patrol equipment to complete designated operations, or to conduct regular inspections of the operation of equipment, systems, or lines. Through automatic operation, robots can more efficiently warn and take corresponding maintenance or repair measures, reducing the workload and risks of manual operations.

[0003] However, there are some problems with the existing transmission line robots. First, the existing transmission line robots can only move along the line and cannot adjust the robot angle. If only one camera is equipped, the field of view coverage will be greatly reduced. In order to inspect the line in all directions, multiple cameras need to be installed on the robot. Each camera has its own monitoring angle as a basis for panoramic visual navigation and judgment. This will lead to excessive load in the transmission line robot, poor portability, and the setting of multiple cameras also increases the production cost and maintenance cost. Second, the existing transmission line robot can only be used for the inspection of lines / cables of the same specification. For the inspection of different lines / cables, multiple devices need to be configured, which has a small adaptability range and high cost. Third, most of the existing transmission line robots adopt a single-wheel or dual-wheel drive structure. This design has poor stability in complex terrain or high-altitude environments, and is prone to problems such as slipping and derailment, which affects the operation effect and equipment safety. The single-wheel drive structure is often unable to cope with complex terrain, resulting in difficulty in completing the operation task smoothly. Fourth, traditional line inspection robots have great difficulties in the process of going online and offline. Due to the complex structure of the equipment, the installation and disassembly of the robot usually takes a lot of time and effort, and requires the coordinated operation of multiple people. This not only increases the labor cost, but also poses certain safety hazards, especially at high altitudes or in harsh environments, where the safety risks of operators are high. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention proposes a rotating drive line mobile robot with self-rotation.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a rotating drive line mobile robot with self-rotation, comprising a shell, a walking mechanism and a self-rotation mechanism, wherein the walking mechanism and the self-rotation mechanism are installed inside the shell; the shell is provided with a through hole matched with the size of the cable, and the cable is installed in the through hole through the through hole to realize the connection between the shell and the cable; the walking mechanism comprises at least one group of walking wheels, which are rotatably installed inside the shell, and the outer surface of the walking wheel is provided with an external thread that is mutually matched with the thread on the surface of the cable, and the walking wheel is threadedly connected with the cable, and can move axially along the cable when the walking wheel rotates; the self-rotation mechanism comprises at least one group of self-rotating wheels, which are rotatably installed inside the shell, and the self-rotating wheels are tightly pressed against the cable, and there is friction between the self-rotating wheels and the cable, and can move circumferentially along the cable when the self-rotating wheels rotate.

[0007] Furthermore, the walking mechanism and the self-rotating mechanism are respectively provided with two groups, the two walking mechanisms are distributed on both sides of the cable, the two self-rotating mechanisms are distributed on both sides of the cable, and the cable is clamped between the two walking mechanisms and the two self-rotating mechanisms.

[0008] Furthermore, the traveling mechanism and the self-rotating mechanism on one side of the cable are distributed vertically, and the traveling mechanism and the self-rotating mechanism on the other side of the cable are distributed downwardly and upwardly.

[0009] Furthermore, a clamping device is respectively provided on the walking mechanism and the self-rotating mechanism; the clamping device is arranged inside the shell, and includes a frame and a compression spring, the frame is fixedly connected to the shell, one end of the compression spring is connected to the frame, and the other end is connected to the walking mechanism / self-rotating mechanism, the compression spring generates pressure on the walking mechanism / self-rotating mechanism, so that the walking wheel / self-rotating wheel is tightly pressed against the cable surface.

[0010] Furthermore, the walking mechanism includes a first rotating shaft and two sets of walking wheels, the two sets of walking wheels are respectively installed at both ends of the first rotating shaft, and rotating the first rotating shaft can drive the walking wheels to rotate; the self-rotating mechanism includes a second rotating shaft and two sets of self-rotating wheels, the two sets of self-rotating wheels are respectively installed at both ends of the second rotating shaft, and rotating the second rotating shaft can drive the self-rotating wheels to rotate.

[0011] Furthermore, the walking mechanism also includes a first motor box and a walking drive device, the first rotating shaft is rotatably arranged inside the first motor box, the walking drive device is fixedly installed inside the first motor box, the walking drive device is drivingly connected to the first rotating shaft, and can drive the first rotating shaft to rotate; the self-rotation mechanism also includes a second motor box and a self-rotation drive device, the second rotating shaft is rotatably arranged inside the second motor box, the self-rotation drive device is fixedly installed inside the second motor box, the self-rotation drive device is drivingly connected to the second rotating shaft, and can drive the second rotating shaft to rotate.

[0012] Furthermore, the compression spring is connected to the first motor box / the second motor box.

[0013] Furthermore, the walking drive device and the self-rotation drive device have the same structure, including a driving motor, a first gear and a second gear. The driving motor is fixedly installed inside the first motor box / the second motor box, the output end of the driving motor is fixedly connected to the first gear, the first gear and the second gear are meshed with each other, and the second gear is fixedly sleeved on the first rotating shaft / the second rotating shaft.

[0014] Furthermore, the shell includes a first shell and a second shell, the first shell and the second shell are hingedly connected, two sets of walking mechanisms are respectively arranged in the first shell and the second shell, and two sets of rotation mechanisms are respectively arranged in the first shell and the second shell; the first shell and the second shell are locked and fixed by a locking mechanism.

[0015] Furthermore, the locking mechanism includes a pull rod, a spring and at least one slot and an insert plate; a horizontal slide groove is opened at the lower part of the first shell, the slot is slidably arranged in the horizontal slide groove, and the pull rod is fixedly connected to the slot; the spring is arranged in the horizontal slide groove, one end of the spring is connected to the inner wall of the first shell, and the other end is connected to one end of the pull rod, and the other end of the pull rod extends to the outside of the shell through the side wall of the first shell; the insert plate is fixedly installed at the lower part of the second shell, a stopper is arranged on one side of the insert plate, and a limit plate is arranged on the side of the slot corresponding to the position of the stopper; when the pull rod is pushed inward, the pull rod drives the slot to move inward and compresses the spring, and the insert plate can be inserted into the slot. After the pull rod is released, the pull rod moves outward under the action of the spring, and the stopper of the insert plate is engaged and fixed with the limit plate of the slot.

[0016] Compared with the prior art, this application has at least the following beneficial effects:

[0017] (1) The present invention provides a walking mechanism and a rotation mechanism, so that the robot can move along the cable axis and rotate along the cable circumference, thereby adjusting the robot's posture and angle. This design enables the robot to carry only one camera to perform line inspection operations, solving the problem that the inspection robot in the prior art cannot adjust the angle and needs to carry multiple cameras, thus simplifying the structure, reducing the robot load, and saving production upgrade and maintenance costs;

[0018] (2) The present invention can flexibly adjust the space size between the walking mechanism and the rotating mechanism inside the robot by providing a clamping device, so that the robot can adapt to cables of different specifications and meet the inspection requirements of cables of different specifications, and has a wide range of applications;

[0019] (3) In the present invention, multiple sets of running wheels and multiple sets of self-rotating wheels are provided, and multiple wheel set structures jointly support the cables, thereby increasing the contact area between the device and the cables, and having stronger power, thereby improving the stability of the robot during operation;

[0020] (4) The present invention adopts a multi-wheel horizontal drive mode. Compared with the traditional two-wheel drive line patrol robot, it has the advantages of low weight, good portability and low energy consumption. The device as a whole is a box-type mechanism with simple structure and strong compactness. It adopts a new clamping scheme, which is convenient for installation and disassembly when going online and offline, and does not require multiple people to perform, thereby improving work efficiency and reducing safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the working and non-working state of the device of the present invention;

[0022] Figure 2 It is a schematic diagram of the working state of the device of the present invention;

[0023] Figure 3 A schematic diagram of the internal structure of the device of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the running wheel and the self-rotating wheel of the invented device;

[0025] Figure 5 is a schematic diagram of the locking mechanism of the invented device;

[0026] The symbols in the accompanying drawings are:

[0027] 1. Shell; 2. Travel wheel; 3. Rotating wheel; 4. Frame; 5. Compression spring; 6. First motor box; 7. Second motor box; 8. First shell; 9. Second shell; 10. Locking mechanism; 11. Pull rod; 12. Spring; 13. Slot; 14. Insert plate. DETAILED DESCRIPTION

[0028] 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 combination with the embodiments of the present invention and the accompanying drawings. 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 making creative work are within the scope of protection of the present invention.

[0029] The specific implementation of the present invention is described below with reference to the accompanying drawings.

[0030] like Figure 1 As shown, the present invention provides a rotating drive line mobile robot with self-rotation, comprising a shell 1, a walking mechanism and a self-rotation mechanism. The shell 1 is hollow inside, and the walking mechanism and the self-rotation mechanism are installed inside the shell 1.

[0031] The housing 1 includes a first housing 8 and a second housing 9, which are hingedly connected, and the first housing 8 can be flipped relative to the second housing 9. The first housing 8 and the second housing 9 are provided with through holes adapted to the size of the cable, and the cable can be installed through the through holes. When it is necessary to go online, flip the first housing 8 or the second housing 9 to open the housing 1, install the cable through the through hole, and then flip the first housing 8 or the second housing 9 again to close the housing 1, and lock and fix the first housing 8 and the second housing 9 through the locking mechanism 10, so that the housing 1 can be hung on the cable, such as Figure 2 As shown, Figure 2 This is a diagram showing the state where the housing 1 is hung on a cable.

[0032] like Figure 3 As shown, two groups of walking mechanisms and two groups of self-rotating mechanisms are respectively provided, and the two groups of walking mechanisms are respectively provided in the first shell 8 and the second shell 9, and the two groups of self-rotating mechanisms are respectively provided in the first shell 8 and the second shell 9. That is, after the housing 1 is hung on the cable, the two groups of walking mechanisms are distributed on both sides of the cable, and the two groups of self-rotating mechanisms are distributed on both sides of the cable, and the cable is clamped between the two groups of walking mechanisms and the two groups of self-rotating mechanisms. And the walking mechanism and self-rotating mechanism on one side of the cable are distributed up and down, and the walking mechanism and self-rotating mechanism on the other side of the cable are distributed down and up.

[0033] like Figure 3 As shown, the walking mechanism includes a first rotating shaft and two groups of walking wheels 2. The two groups of walking wheels 2 are respectively installed at both ends of the first rotating shaft. Rotating the first rotating shaft can drive the walking wheels 2 to rotate. The outer surfaces of the two groups of walking wheels 2 are provided with (obliquely distributed) external threads that are compatible with the surface threads of the cable. The walking wheels 2 are threadedly connected to the cable. When the walking wheels 2 rotate, they can move along the axial direction of the cable, thereby driving the entire housing 1 to move linearly along the cable. This embodiment is suitable for the inspection of cables with a threaded structure on the surface. For cables without a threaded structure, an external threaded structure can be provided on the cable protective shell, which is then connected to the walking wheels 2 of the device, and the technical effect of the present invention can also be achieved.

[0034] like Figure 3 As shown, the self-rotating mechanism includes a second rotating shaft and two sets of self-rotating wheels 3, which are respectively mounted at both ends of the second rotating shaft. Rotating the second rotating shaft can drive the self-rotating wheels 3 to rotate. The self-rotating wheels 3 are tightly pressed against the cable, and there is friction between the self-rotating wheels 3 and the cable. When the self-rotating wheels 3 rotate, they can move along the circumference of the cable, thereby driving the entire housing 1 to rotate along the circumference of the cable.

[0035] like Figure 3As shown, in a preferred embodiment, a clamping device is respectively provided on the traveling mechanism and the self-rotating mechanism, and the clamping device can generate pressure on the self-rotating wheel 3 or the traveling wheel 2 so that it fits tightly with the cable. Specifically, the clamping device is arranged inside the housing 1, and includes a frame 4 and a compression spring 5. The frame 4 is fixedly connected to the housing 1, one end of the compression spring 5 is connected to the frame 4, and the other end is connected to the traveling mechanism / self-rotating mechanism. The compression spring 5 is in a compressed state, and the compression spring 5 can generate pressure on the traveling mechanism / self-rotating mechanism so that the traveling wheel 2 / self-rotating wheel 3 and the cable surface always maintain a tightly pressed state. The setting of the clamping device enables the device to be applied to cables of different specifications, and has a wide range of applications.

[0036] like Figure 4 As shown, the walking mechanism also includes a first motor box 6 and a walking drive device, and the self-rotation mechanism also includes a second motor box 7 and a self-rotation drive device. Specifically, the first motor box 6 is arranged inside the housing 1, the first motor box 6 is movably connected to the inner wall of the housing 1, the first rotating shaft is rotatably arranged inside the first motor box 6, the first motor box 6 will not rotate with the first rotating shaft, the walking drive device is fixedly installed inside the first motor box 6, the walking drive device is connected to the first rotating shaft, and can drive the first rotating shaft to rotate. The compression spring 5 is connected to the first motor box. When used, the compression spring 5 generates pressure on the first motor box 6, and then the relative position of the first motor box 6 can be fine-tuned, so that the self-rotating wheels 3 on both sides of the first motor box 6 fit the cable, which is suitable for cable inspections of different specifications. The second motor box 7 is arranged inside the housing 1, the second motor box 7 is movably connected to the inner wall of the housing 1, the second rotating shaft is rotatably arranged inside the second motor box 7, the second motor box 7 will not rotate with the second rotating shaft, and the self-rotation drive device is fixedly installed inside the second motor box 7, the self-rotation drive device is connected to the second rotating shaft, and can drive the second rotating shaft to rotate. The compression spring 5 is connected to the second motor box 7. When used, the compression spring 5 generates pressure on the second motor box 7, thereby fine-tuning the relative position of the second motor box 7 so that the walking wheels 2 on both sides of the second motor box 7 fit the cables, which is suitable for cable inspections of different specifications.

[0037] Regarding the travel drive device and the self-rotation drive device: the travel drive device and the self-rotation drive device have the same structure, including a drive motor, a first gear and a second gear (not shown in the figure), the drive motor is fixedly installed inside the first motor box 6 / the second motor box 7, the output end of the drive motor is fixedly connected to the first gear, the first gear and the second gear are meshed with each other, and the second gear is fixedly sleeved on the first rotating shaft / the second rotating shaft.

[0038] When in use, the driving motor drives the first gear to rotate, which in turn drives the second gear to rotate, and the second gear drives the first rotating shaft / second rotating shaft to rotate, thereby realizing the rotation of the walking wheel 2 or the rotating wheel 3 to achieve the driving effect.

[0039] like Figure 3 and Figure 5 As shown, the locking mechanism 10 includes a pull rod 11 , a spring 12 , two slots 13 and two plug plates 14 .

[0040] A horizontal slide groove 14 is provided at the lower part of the first housing 8, and the slots 13 are slidably arranged in the horizontal slide groove 14, and the pull rod 11 is fixedly connected to the two slots 13. A spring 12 is arranged in the horizontal slide groove 14, one end of the spring 12 is connected to the inner wall of the first housing 8, and the other end is connected to one end of the pull rod 11, and the other end of the pull rod 11 extends through the side wall of the first housing 8 to the outside of the housing 1, and pulling the pull rod 11 can drive the two slots 13 to move in the horizontal slide groove 14, and can cause the spring 12 to produce elastic deformation.

[0041] The plug plate 14 is fixedly mounted at the lower part of the second housing 9, a stopper is provided on one side of the plug plate 14, and a limit plate is provided on the side of the slot 13 corresponding to the stopper. When the pull rod 11 is pushed inward, the pull rod 11 drives the slot 13 to move inward and compresses the spring 12, so that the plug plate 14 can be inserted into the slot 13. After the pull rod 11 is released, the pull rod 11 moves outward under the action of the spring 12, and the stopper of the plug plate 14 is engaged and fixed with the limit plate of the slot 13.

[0042] When locking and fixing is required, the pull rod 11 is pushed inward to drive the two slots 13 to move in the horizontal slide 14. When the plug plate 14 is aligned with the slot 13, the plug plate 14 of the second shell 9 is inserted into the slot 13. Then the pull rod 11 is released. Under the action of the spring 12, the two slots 13 move in opposite directions. The stopper of the plug plate 14 is engaged and fixed with the limit plate of the slot 13. When the shell 1 needs to be opened, the pull rod 11 is pushed outward to drive the two slots 13 to move. When the plug plate 14 is aligned with the slot 13, the plug plate 14 of the second shell 9 is separated from the slot 13 to open the shell 1.

[0043] Application principle of this device:

[0044] When in use, after the shell 1 is hung on the cable, the first shell 8 and the second shell 9 are locked and fixed by the locking mechanism 10. At this time, the cable is clamped between the two sets of walking mechanisms and the two sets of rotating mechanisms. The four sets of walking wheels 2 and the cables are fitted with each other and threadedly connected, and the four sets of rotating wheels 3 are tightly pressed against the cables.

[0045] During operation, the first rotating shaft is driven to rotate by the driving device, and the first rotating shaft drives the walking wheel 2 to rotate. When the walking wheel 2 rotates, it can move along the cable axis. Since the walking mechanism is connected to the shell 1, it can drive the entire shell 1 to move forward or backward along the cable, thereby realizing the movement of the line mobile robot.

[0046] When the robot needs to adjust the angle, the first rotating shaft stops rotating, and the second rotating shaft is driven to rotate through the driving device. The second rotating shaft drives the rotating wheel 3 to rotate. Due to the friction between the rotating wheel 3 and the cable, the rotating wheel 3 can move along the circumference of the cable when rotating. Since the rotating mechanism is connected to the shell 1, it can drive the entire shell 1 to rotate along the circumference of the cable, thereby realizing the angle adjustment of the mobile robot.

[0047] In the present invention, the threaded wheel group performs threaded transmission to enable the robot to move along the cable axis and play a pressing role, and the non-threaded wheel group enables the robot to rotate around the cable axis and play a pressing role. The robot can rotate around the cable axis, so that the robot will not be decoupled or the measurement accuracy will be inaccurate due to the influence of external environmental factors, so that the robot only needs to be equipped with one camera to complete the operation. The contact area between the four wheel groups and the cable is larger, which can prevent the robot from being decoupled and make the robot more powerful. In addition, the robot can adapt to different wire diameters and work stably through a clamping mechanism according to the different cable diameters. The box-type structure also makes the structure of the robot more compact.

[0048] The line mobile robot provided by the present invention can not only realize the axial movement of the robot along the cable, but also realize the circumferential rotation of the robot along the cable to adjust the posture and angle of the robot. This design enables the robot to realize line inspection operations with only one camera, solving the problem in the prior art that the inspection robot cannot adjust the angle and needs to be equipped with multiple cameras, simplifying the structure, reducing the robot load, and saving production upgrade and maintenance costs.

[0049] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A mobile robot with a rotating drive line with self-rotation, characterized in that: It comprises a housing (1), a running mechanism and a self-rotating mechanism, wherein the running mechanism and the self-rotating mechanism are installed inside the housing (1); the housing (1) is provided with a through hole adapted to the size of the cable, and the cable is installed through the through hole to achieve connection between the housing (1) and the cable; The walking mechanism comprises at least one set of walking wheels (2), the walking wheels (2) being rotatably mounted inside the housing (1), the outer surfaces of the walking wheels (2) being provided with external threads that are mutually compatible with threads on the surface of the cable, the walking wheels (2) being threadably connected to the cable, and being able to move axially along the cable when the walking wheels (2) rotate; The self-rotating mechanism comprises at least one set of self-rotating wheels (3), which are rotatably mounted inside the housing (1), the self-rotating wheels (3) are tightly pressed against the cable, and there is friction between the self-rotating wheels (3) and the cable, so that when the self-rotating wheels (3) rotate, they can move along the circumference of the cable.

2. The rotating driving line mobile robot with self-rotation according to claim 1, characterized in that: The walking mechanism and the self-rotating mechanism are respectively provided with two groups, the two walking mechanisms are distributed on both sides of the cable, the two self-rotating mechanisms are distributed on both sides of the cable, and the cable is clamped between the two walking mechanisms and the two self-rotating mechanisms.

3. The rotating driving line mobile robot with self-rotation according to claim 2, characterized in that: The traveling mechanism and the self-rotating mechanism on one side of the cable are distributed vertically, and the traveling mechanism and the self-rotating mechanism on the other side of the cable are distributed downwardly and upwardly.

4. The rotating driving line mobile robot with self-rotation according to claim 1, characterized in that: The walking mechanism and the rotating mechanism are respectively provided with a clamping device; The clamping device is arranged inside the shell (1), and comprises a frame (4) and a compression spring (5); the frame (4) is fixedly connected to the shell (1); one end of the compression spring (5) is connected to the frame (4), and the other end is connected to the walking mechanism / rotating mechanism; the compression spring (5) generates pressure on the walking mechanism / rotating mechanism, so that the walking wheel (2) / rotating wheel (3) is tightly pressed against the surface of the cable.

5. The rotating driving line mobile robot with self-rotation according to claim 4, characterized in that: The walking mechanism comprises a first rotating shaft and two sets of walking wheels (2), wherein the two sets of walking wheels (2) are respectively mounted at two ends of the first rotating shaft, and rotating the first rotating shaft can drive the walking wheels (2) to rotate; The self-rotating mechanism comprises a second rotating shaft and two sets of self-rotating wheels (3), wherein the two sets of self-rotating wheels (3) are respectively mounted at two ends of the second rotating shaft, and rotating the second rotating shaft can drive the self-rotating wheels (3) to rotate.

6. The rotating driving line mobile robot with self-rotation according to claim 5, characterized in that: The walking mechanism further comprises a first motor box (6) and a walking drive device, wherein the first rotating shaft is rotatably arranged inside the first motor box (6), the walking drive device is fixedly installed inside the first motor box (6), and the walking drive device is drivingly connected to the first rotating shaft and can drive the first rotating shaft to rotate; The self-rotation mechanism also includes a second motor box (7) and a self-rotation drive device, wherein the second rotating shaft is rotatably arranged inside the second motor box (7), and the self-rotation drive device is fixedly installed inside the second motor box (7). The self-rotation drive device is drivingly connected to the second rotating shaft and can drive the second rotating shaft to rotate.

7. The rotating driving line mobile robot with self-rotation according to claim 6, characterized in that: The compression spring (5) is connected to the first motor box (6) / the second motor box (7).

8. The rotating driving line mobile robot with self-rotation according to claim 6, characterized in that: The walking drive device and the self-rotation drive device have the same structure, and include a driving motor, a first gear, and a second gear. The driving motor is fixedly mounted inside the first motor box (6) / the second motor box (7), the output end of the driving motor is fixedly connected to the first gear, the first gear and the second gear are meshed with each other, and the second gear is fixedly sleeved on the first rotating shaft / the second rotating shaft.

9. The rotating driving line mobile robot with self-rotation according to claim 2, characterized in that: The housing (1) comprises a first shell (8) and a second shell (9); the first shell (8) and the second shell (9) are hingedly connected; two sets of walking mechanisms are respectively arranged in the first shell (8) and the second shell (9); and two sets of self-rotation mechanisms are respectively arranged in the first shell (8) and the second shell (9); the first shell (8) and the second shell (9) are locked and fixed by a locking mechanism (10).

10. The rotating driving line mobile robot with self-rotation according to claim 9, characterized in that: The locking mechanism (10) comprises a pull rod (11), a spring (12) and at least one slot (13) and a plug plate (14); A horizontal slide groove (14) is provided at the lower part of the first shell (8), the slot (13) is slidably arranged in the horizontal slide groove (14), and the pull rod (11) is fixedly connected to the slot (13); the spring (12) is arranged in the horizontal slide groove (14), one end of the spring (12) is connected to the inner wall of the first shell (8), and the other end is connected to one end of the pull rod (11), and the other end of the pull rod (11) passes through the side wall of the first shell (8) and extends to the outside of the shell (1); The plug plate (14) is fixedly mounted on the lower part of the second shell (9), a stopper is provided on one side of the plug plate (14), and a limit plate is provided on the side of the slot (13) corresponding to the stopper position; when the pull rod (11) is pushed inward, the pull rod (11) drives the slot (13) to move inward and compresses the spring (12), so that the plug plate (14) can be inserted into the slot (13); after the pull rod (11) is released, the pull rod (11) moves outward under the action of the spring (12), and the stopper of the plug plate (14) is engaged and fixed with the limit plate of the slot (13).

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