Inspection robot

Abstract

The invention provides an inspection robot, and belongs to the technical field of automated guided vehicles. The upper supporting plate is fixedly connected to the upper end of the probe protection sleeve; the probe protection sleeve is fixedly connected to the upper end of the upper supporting plate; the heat source signal probe is arranged in the probe protection sleeve; the protection mechanism comprises a connecting assembly and a plurality of groups of buffer assemblies; each buffer assembly comprises a sliding rod groove, a buffer sleeve, a buffer rod, a spring connector and a buffer spring, the sliding rod groove is formed in the upper end of the upper supporting plate, the buffer sleeve is fixedly connected to the upper end of the inspection rack, and the device can protect the heat source signal probe and improve the stability during fire source detection.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic guided vehicles, and in particular relates to an inspection robot. Background Art

[0002] An Automated Guided Vehicle (AGV) is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or pulls a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. According to the definition of Japan's JISD6801: AGV is an industrial vehicle that uses batteries as a power source and is automatically operated. Only when the AGV meets the requirements of automation, flexibility and punctuality in material handling operations, and forms an AGV system (AGVS) with an automatic guidance system, automatic loading and unloading system, communication system, safety system and management system, can it truly play its role.

[0003] After searching, it was found that a ground adaptive AGV chassis and AGV vehicle were disclosed in the Chinese patent with the authorization announcement number "CN111267997A", ​​which relates to the field of intelligent handling technology. The ground adaptive AGV chassis includes a chassis body, a rotating plate, at least two sets of wheel groups and an elastic pressure mechanism. The rotating plate is rotatably connected to the front end of the chassis body through a fulcrum shaft, and the rotating plate is located below the chassis body and has a gap with the chassis body. Each set of wheel groups includes two running wheels and at least one running wheel is a driving wheel, one of which is installed on the rotating plate as a front wheel group, and the remaining wheel group is installed on the chassis body. The two ends of the elastic pressure mechanism are respectively hinged to the chassis body and the rotating plate, and the elastic pressure mechanism is used to apply pressure to the rotating plate to keep the front wheel group in contact with the ground and adjust the compression of the elastic pressure mechanism through the rotating plate. By introducing the elastic pressure mechanism and the rotating plate to achieve reliable pressure contact between the front wheel group and the ground, the ground adaptive AGV chassis can adapt to the minimization of the shaking amplitude of the ground, realize the self-adjustment of the wheel system and reduce the shaking.

[0004] The above invention enables the ground adaptive AGV chassis to adapt to the minimization of the shaking amplitude of the ground, realizes autonomous adjustment of the wheel system and reduces shaking. However, when an automatic guided vehicle is required to carry a heat source signal probe to detect the fire source at the fire scene, since it is supported by a spring, even when it moves horizontally, when the speed of the guide vehicle changes, the supported heat source signal probe will continue to swing, making it difficult to accurately locate the fire source. Summary of the invention

[0005] The purpose of the present invention is to provide an inspection robot that is supported by springs. Even when it moves steadily, when the speed of the guide vehicle changes, the supported heat source signal probe will continue to swing, making it difficult to accurately locate the fire source.

[0006] To achieve the above object, the present invention provides the following technical solutions: A patrol robot, a patrol frame and an upper support plate, comprising: the upper support plate is fixedly connected to the upper end of the probe protection sleeve; the probe protection sleeve is fixedly connected to the upper end of the upper support plate; the heat source signal probe is arranged in the probe protection sleeve; the protection mechanism comprises a connecting assembly and a buffer assembly, and the buffer assembly is provided with a plurality of groups; each group of the buffer assemblies comprises a slide bar groove, a buffer sleeve, a buffer rod, a spring connector and a buffer spring, the slide bar groove is opened at the upper end of the upper support plate, the buffer sleeve is fixedly connected to the upper end of the patrol frame, the buffer sleeve slides in the slide bar groove, the buffer rod is slidably connected in the buffer sleeve, the spring connector is fixedly connected to the upper end of the buffer rod, and the buffer spring is fixedly connected to the lower end of the spring connector and the upper end of the patrol frame; The connecting assembly includes two connecting rods, a downward limiting ring, a probe supporting base and a lifting rod, the two connecting rods are respectively fixedly connected to the adjacent ends of a plurality of buffer springs, the downward limiting ring is fixedly connected to the upper ends of the two connecting rods, the probe supporting base is arranged in the downward limiting ring, and the lifting rod is fixedly connected to the lower end of the heat source signal probe and the upper end of the probe supporting base; The driving mechanism is arranged at the upper end of the inspection frame and uses a motor as a power to adjust the height of the heat source signal probe.

[0007] With the above arrangement, through this device, when the wire vehicle enters the fire scene, the heat source signal probe is arranged in the probe protection sleeve, cooperates with the buffer component in the protection mechanism to absorb external impact, and maintains the stability of the internal structure through the connection component. When it is necessary to find the fire source after entering the fire scene, the height adjustment of the probe is achieved through the threaded sleeve and the lifting rod, and when the heat source signal probe is raised to the detection position, the upper support plate is fixedly connected to the upper end of the probe protection sleeve, and conversely, the probe protection sleeve is also fixedly connected to the upper end of the upper support plate to form a stable structure. The probe protection sleeve has a built-in heat source signal probe to protect the probe from the influence of the external environment. The lifting rod and the probe support base are arranged in the downward limit circle when there is no support from the driving component. The probe support base is supported by a downward limit ring, and is connected to multiple groups of buffer components. The buffer spring is fixedly connected between the lower end of the spring connector and the upper end of the inspection frame to provide elastic buffering effect and reduce the impact of external vibration on the equipment. When inspecting the fire scene, the heat source signal probe is arranged in the probe protection sleeve, and cooperates with the buffer component in the protection mechanism to absorb external impact, and maintains the stability of the internal structure through the connecting component. When the height of the heat source signal probe needs to be adjusted, the driving mechanism is started, and when the heat source signal probe is raised to the detection position, the upper and lower ends of the probe support base are both supported, so that the heat source signal probe will not shake due to the movement of the inspection robot, thereby improving the stability of the heat source signal probe during heat source detection.

[0008] As a preferred solution of the present invention, a probe limiting block is fixedly connected to the side inner wall of the probe protection sleeve, and the lifting rod slides in the probe limiting block.

[0009] In the above arrangement, a probe limit block is provided on the inner side wall of the probe protection sleeve, so that the lifting rod slides in the probe limit block, thereby limiting the lifting rod's upward and downward movement process.

[0010] As a preferred solution of the present invention, the driving mechanism includes a driving motor, a screw and a threaded sleeve, the driving motor is fixedly connected to the upper end of the inspection frame, the screw is fixedly connected to the output end of the driving motor, and the threaded sleeve is threadedly connected to the outer surface of the screw.

[0011] With the above settings, the drive motor is started to drive the screw to rotate, and then the height of the probe is adjusted through the threaded sleeve and the lifting rod.

[0012] As a preferred solution of the present invention, two limit sliders are fixedly connected to the side inner wall of the probe protection sleeve, and limit sliding grooves are provided on both sides of the threaded sleeve. The two limit sliders slide in the two limit sliding grooves respectively.

[0013] The above settings ensure reliable sliding of the probe protection sleeve by matching the limit slider with the limit slide groove.

[0014] As a preferred solution of the present invention, the diameter of the circumferential inner wall of the downward limiting ring is larger than the diameter of the threaded sleeve.

[0015] The above arrangement facilitates the sliding of the threaded sleeve in the downward limiting ring.

[0016] As a preferred solution of the present invention, the outer surface of the inspection frame is covered with a fireproof galvanized steel plate.

[0017] The above arrangement, through the arrangement of the inspection rack material, enables the inspection rack to have a fireproof function.

[0018] As a preferred solution of the present invention, a front probe is fixedly connected to one side end of the inspection rack, and the front probe is electrically connected to the receiving radar.

[0019] The above settings, the front probe and the receiving radar, can obtain the front environment information in real time. This multi-sensor fusion technology not only improves the robot's environmental perception ability, but also enhances its ability to navigate and avoid obstacles in complex environments.

[0020] As a preferred solution of the present invention, a plurality of universal wheels are fixedly connected to the lower end of the inspection frame, and a driving wheel is provided at the lower end of the inspection frame.

[0021] The above arrangement can facilitate the reliable movement of the inspection rack.

[0022] As a preferred solution of the present invention, a remote control integrated box is fixedly connected to one side end of the inspection rack, and a remote control receiver is arranged in the remote control integrated box.

[0023] The above settings contain a remote control receiver and support remote control, which increases the convenience and safety of use. Operators can accurately operate and monitor the inspection robot through wireless remote control. This remote control function is particularly important in dangerous or inaccessible environments.

[0024] As a preferred solution of the present invention, a recharging assembly is provided at one side end of the inspection rack.

[0025] The above settings make charging convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a structural stereogram of the present invention; Figure 2 It is a cross-sectional view of the first structure in the present invention; Figure 3 It is a cross-sectional view of the second structure in the present invention; Figure 4 It is a cross-sectional view of the third structure in the present invention; Figure 5 It is a cross-sectional exploded view of the structure in the present invention; Figure 6 It is a cross-sectional view of the fourth structure in the present invention; Figure 7 For the present invention Figure 4 The enlarged view of point A in the middle; Figure 8 For the present invention Figure 5 Enlarged view of point B in the middle.

[0027] In the figure: 1. Inspection rack; 2. Upper support plate; 3. Probe protection sleeve; 4. Slide rod groove; 5. Buffer sleeve; 6. Buffer rod; 7. Spring connector; 8. Buffer spring; 9. Connecting rod; 10. Downward limit ring; 11. Probe limit block; 12. Probe support base; 13. Heat source signal probe; 14. Driving motor; 15. Screw; 16. Threaded sleeve; 17. Limit slide groove; 18. Limit slider; 19. Front probe; 20. Driving wheel; 21. Universal wheel; 23. Recharge assembly; 24. Remote control integrated box; 25. Lifting rod. DETAILED DESCRIPTION

[0028] 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.

[0029] Example 1 See also Figure 1-Figure 8 , the present invention provides the following technical solutions: A patrol robot, comprising: a patrol frame 1; An upper support plate 2, the upper support plate 2 is fixedly connected to the upper end of the probe protection sleeve 3; A probe protection sleeve 3, which is fixedly connected to the upper end of the upper support plate 2; A heat source signal probe 13, which is disposed in the probe protection sleeve 3; The protection mechanism includes a connecting assembly and a buffer assembly, and the buffer assembly is provided with multiple groups; in this embodiment, two groups of buffer assemblies are provided, and the two groups of buffer assemblies are respectively provided at both ends of the inspection rack 1, and each group of buffer assemblies is provided with a connecting rod, Each set of buffer components includes a slide bar groove 4, a buffer sleeve 5, a buffer rod 6, a spring connector 7 and a buffer spring 8. The slide bar groove 4 is opened at the upper end of the upper support plate 2, the buffer sleeve 5 is fixedly connected to the upper end of the inspection frame 1, the buffer sleeve 5 slides in the slide bar groove 4, the buffer rod 6 is slidably connected in the buffer sleeve 5, the spring connector 7 is fixedly connected to the upper end of the buffer rod 6, and the buffer spring 8 is sleeved and connected to the lower end of the spring connector 7 and the upper end of the inspection frame 1; The connecting assembly includes two connecting rods 9, a downward limit ring 10, a probe support base 12 and a lifting rod 25. The two connecting rods 9 are respectively fixedly connected to the adjacent ends of a plurality of buffer springs 8. The downward limit ring 10 is fixedly connected to the upper ends of the two connecting rods 9. The probe support base 12 is arranged in the downward limit ring 10. The connecting rod 9 is arranged at the bottom of the upper support plate 2. When the driving mechanism does not support the probe support base 12, the probe support base 12 is correspondingly arranged with the downward limit ring 10, so that it can be supported by the connecting rod 9. Since a plurality of buffer springs 8 are arranged on the outer sleeve of the connecting rod, the buffer spring 8 can be used to buffer the instantaneous impact force when suddenly changing from having support to having no support. The lifting rod 25 is fixedly connected to the lower end of the heat source signal probe 13 and the upper end of the probe support base 12. The driving structure is arranged at the upper end of the inspection frame 1 and uses a motor as a power to adjust the height of the heat source signal probe 13.

[0030] In a specific embodiment of the present invention, the main features of the inspection robot are its protective mechanism and driving structure, which can effectively protect the internal detection equipment and flexibly adjust the position of these devices. The upper support plate 2 is fixedly connected to the upper end of the probe protection sleeve 3, and conversely the probe protection sleeve 3 is also fixedly connected to the upper end of the upper support plate 2 to form a stable structure. The probe protection sleeve 3 has a built-in heat source signal probe 13 for protecting the probe from the influence of the external environment. The lifting rod 25 and the probe support base 12 are arranged in the downward limit ring 10 when there is no support from the driving component, and are supported by the downward limit ring 10. The probe support base 12 is connected to multiple groups of buffer components. The buffer spring 8 is fixedly connected between the lower end of the spring connector 7 and the upper end of the inspection frame 1 to provide elastic buffering effect and reduce the influence of external vibration on the equipment. When conducting fire scene inspections, the heat source signal probe 13 is arranged in the probe protection sleeve 3, and cooperates with the buffer component in the protective mechanism to absorb external impact, and maintains the stability of the internal structure through the connecting component. When the heat source signal needs to be adjusted When the heat source signal probe 13 is at the height of the heat source signal probe 13, the driving motor 14 is started, driving the screw 15 to rotate, and then moving up and down through the threaded sleeve 16, so that the threaded sleeve 16 moves upward through the downward limit ring 10 to push out the lifting rod 25, and drives the heat source signal probe 13 to move upward through the lifting rod 25. When the heat source signal probe 13 does not need to move upward, the driving motor drives the threaded sleeve 16 to retract, and under the gravity of the heat source signal probe 13, it slides on the side inner wall of the probe protection sleeve 3 to the downward limit through the probe limit block 11. The circle 10 is supported at the corresponding position to achieve resetting, so that the height adjustment of the probe is achieved through the threaded sleeve 16 and the lifting rod 25, and when the heat source signal probe 13 is raised to the detection position, the lower end of the probe support base 12 is abutted by the threaded sleeve 16, and the upper end of the probe support base 12 is abutted by the probe limit block 11, so that the upper and lower ends of the probe support base 12 are abutted, so that the heat source signal probe 13 will not shake due to the movement of the inspection robot, thereby improving the stability of the heat source signal probe 13 during heat source detection.

[0031] For details, please refer to Figure 1-Figure 8 A probe limiting block 11 is fixedly connected to the inner side wall of the probe protection sleeve 3 , and the lifting rod 25 slides in the probe limiting block 11 .

[0032] In this embodiment: the probe limit block 11 is fixedly connected to the side inner wall of the probe protection sleeve 3, providing a guiding function and limiting the position of the lifting rod 25. When the probe support base 12 is lifted by the driving mechanism, the heat source signal probe 13 moves upward until the probe support base 12 is lifted upward to the lower end of the probe limit block 11. At this time, the upper and lower ends of the probe support base 12 are fixed, so that the heat source signal probe 13 will not shake when performing heat source detection at the fire scene.

[0033] For details, please refer to Figure 1-Figure 8 The driving mechanism includes a driving motor 14, a screw 15 and a threaded sleeve 16. The driving motor 14 is fixedly connected to the upper end of the inspection frame 1, the screw 15 is fixedly connected to the output end of the driving motor 14, and the threaded sleeve 16 is threadedly connected to the outer surface of the screw 15.

[0034] In this embodiment: the drive motor 14 is fixedly connected to the upper end of the inspection frame 1 as a power source, the screw 15 is fixedly connected to the output end of the drive motor 14, and rotates with the rotation of the drive motor 14, the threaded sleeve 16 is threadedly connected to the outer surface of the screw 15, and moves up and down axially with the rotation of the screw 15. When the drive motor 14 is started, the screw 15 rotates accordingly. Since the threaded sleeve 16 is threadedly connected to the screw 15, the threaded sleeve 16 will move up and down axially according to the rotation direction of the screw 15. The movement of the threaded sleeve 16 drives the lifting rod 25 connected thereto to move synchronously, thereby realizing the height adjustment of the heat source signal probe 13. The design of the probe limit block 11 ensures that the lifting rod 25 remains stable during the movement to avoid deviation or shaking.

[0035] For details, please refer to Figure 1-Figure 8 Two limit sliders 18 are fixedly connected to the inner wall of the probe protection sleeve 3 , and limit slots 17 are provided on both sides of the threaded sleeve 16 , and the two limit sliders 18 slide in the two limit slots 17 respectively.

[0036] In this embodiment: two limit sliders 18 are fixedly connected to the side inner wall of the probe protection sleeve 3, and these limit sliders 18 slide in the limit sliding grooves 17 on both sides of the threaded sleeve 16 respectively, ensuring that the threaded sleeve 16 maintains linear motion when moving up and down to avoid any possible deviation or shaking.

[0037] For details, please refer to Figure 1-Figure 8 The inner wall diameter of the circumference of the downward limiting ring 10 is greater than the diameter of the threaded sleeve 16 .

[0038] In this embodiment, the inner diameter of the circumference of the downward limiting ring 10 is larger than the diameter of the threaded sleeve 16, so as to ensure that the threaded sleeve 16 will not be disturbed when moving up and down.

[0039] For details, please refer to Figure 1-Figure 8 The outer surface of the inspection frame 1 is covered with a fireproof galvanized steel plate.

[0040] In this embodiment: the outer surface of the inspection frame 1 is covered with a fire-proof galvanized steel plate. This design not only enhances the fire resistance of the inspection robot, but also improves its corrosion resistance, thereby extending the service life of the equipment and ensuring that it can operate stably in more harsh environments.

[0041] For details, please refer to Figure 1-Figure 8A front probe 19 is fixedly connected to one side end of the inspection rack 1, and the front probe 19 is electrically connected to the receiving radar.

[0042] In this embodiment: the front probe 19 is responsible for collecting visual information of the front environment, such as the position and shape of obstacles, and the receiving radar measures the distance, speed and other parameters of the front object through the principle of electromagnetic wave reflection, and transmits these data to the robot's control system. The combined use of the two greatly enhances the inspection robot's perception of complex environments, enabling it to plan paths and avoid obstacles more accurately. In this embodiment, the front probe is an existing detection device, and the technology for path planning after detecting an obstacle is an existing technology, which will not be repeated here.

[0043] For details, please refer to Figure 1-Figure 8 A plurality of universal wheels 21 are fixedly connected to the lower end of the inspection frame 1 , and a driving wheel 20 is provided at the lower end of the inspection frame 1 .

[0044] In this embodiment: the universal wheel 21 and the driving wheel 20 work together so that the inspection robot can not only move smoothly on flat ground, but also operate flexibly in narrow spaces or complex terrains. The driving wheel 20 provides the main propulsion force, while the universal wheel 21 ensures flexibility and stability when turning. The combination of the two greatly improves the maneuverability and adaptability of the inspection robot.

[0045] For details, please refer to Figure 1-Figure 8 A remote control integrated box 24 is fixedly connected to one side end of the inspection rack 1, and a remote control receiver is arranged in the remote control integrated box 24.

[0046] In this embodiment: after the remote control receiver receives the command issued by the operator, it converts it into an electrical signal and transmits it to the main control system of the inspection robot through the internal circuit. The main control system adjusts the working status of components such as the drive motor 14, the drive wheel 20, and the universal wheel 21 according to the received command to complete actions such as moving forward, backward, turning, and stopping. In addition, the remote control integrated box 24 can also work in conjunction with the front probe 19 and the receiving radar to provide real-time feedback of environmental information to the operator, so that they can make correct decisions.

[0047] For details, please refer to Figure 1-Figure 8 A recharging assembly 23 is provided at one side end of the inspection rack 1.

[0048] In this embodiment: When the battery power of the inspection robot drops to a preset threshold, the control system in the recharging assembly 23 will be activated, and the built-in positioning sensor such as an infrared or laser sensor will be used to identify and navigate to the location of the charging station. Once it arrives near the charging station, the recharging assembly 23 will accurately align with the charging port to ensure the safety and effectiveness of power transmission. During this process, the front probe 19 and the receiving radar can also assist the robot to avoid obstacles and reach the charging station smoothly.

[0049] Working principle and use process of the present invention: The main features of the inspection robot are its protection mechanism and driving structure, which can effectively protect the internal detection equipment and flexibly adjust the position of these devices. The upper support plate 2 is fixedly connected to the upper end of the probe protection sleeve 3, and conversely the probe protection sleeve 3 is also fixedly connected to the upper end of the upper support plate 2 to form a stable structure. The probe protection sleeve 3 has a built-in heat source signal probe 13 to protect the probe from the influence of the external environment. The lifting rod 25 and the probe support base 12 are arranged in the downward limit circle 10 when there is no support from the driving component, and are supported by the downward limit circle 10. The probe support base 12 is connected to multiple groups of buffer components, and the buffer spring 8 is fixedly connected to the lower part of the spring connector 7. An elastic buffering effect is provided between the end and the upper end of the inspection frame 1 to reduce the impact of external vibration on the equipment, and when conducting fire scene inspection, the heat source signal probe 13 is arranged in the probe protection sleeve 3, and cooperates with the buffer component in the protection mechanism to absorb external impact, and maintains the stability of the internal structure through the connecting component. When the height of the heat source signal probe 13 needs to be adjusted, the drive motor 14 is started to drive the screw 15 to rotate, and then the height adjustment of the probe is achieved through the threaded sleeve 16 and the lifting rod 25, and when the heat source signal probe 13 is raised to the detection position, the upper and lower ends of the probe support base 12 are both supported, so that the heat source signal probe 13 will not shake due to the movement of the inspection robot, thereby improving the stability of the heat source signal probe 13 during heat source detection.

Claims

1. An inspection robot, comprising an inspection frame (1) and an upper support plate (2), characterized in that: include: The upper support plate (2) is fixedly connected to the upper end of the probe protection sleeve (3); the probe protection sleeve (3) is fixedly connected to the upper end of the upper support plate (2); the heat source signal probe (13) is arranged in the probe protection sleeve (3); the protection mechanism comprises a connecting component and a buffer component, and the buffer component is provided with a plurality of groups; Each group of the buffer components comprises a slide bar groove (4), a buffer sleeve (5), a buffer rod (6), a spring connector (7) and a buffer spring (8); the slide bar groove (4) is opened at the upper end of the upper support plate (2); the buffer sleeve (5) is fixedly connected to the upper end of the inspection frame (1); the buffer sleeve (5) slides in the slide bar groove (4); the buffer rod (6) is slidably connected in the buffer sleeve (5); the spring connector (7) is fixedly connected to the upper end of the buffer rod (6); and the buffer spring (8) is fixedly connected to the lower end of the spring connector (7) and the upper end of the inspection frame (1); The connecting assembly comprises two connecting rods (9), a downward limiting ring (10), a probe supporting base (12) and a lifting rod (25), wherein the two connecting rods (9) are respectively fixedly connected to the adjacent ends of a plurality of buffer springs (8), the downward limiting ring (10) is fixedly connected to the upper ends of the two connecting rods (9), the probe supporting base (12) is arranged in the downward limiting ring (10), and the lifting rod (25) is fixedly connected to the lower end of the heat source signal probe (13) and the upper end of the probe supporting base (12); The driving mechanism is arranged at the upper end of the inspection frame (1) and uses a motor as a power source to adjust the height of the heat source signal probe (13).

2. The inspection robot according to claim 1, characterized in that: A probe limit block (11) is fixedly connected to the side inner wall of the probe protection sleeve (3), and the lifting rod (25) slides in the probe limit block (11).

3. The inspection robot according to claim 2, characterized in that: The driving mechanism comprises a driving motor (14), a screw rod (15) and a threaded sleeve (16); the driving motor (14) is fixedly connected to the upper end of the inspection frame (1); the screw rod (15) is fixedly connected to the output end of the driving motor (14); and the threaded sleeve (16) is threadedly connected to the outer surface of the screw rod (15).

4. The inspection robot according to claim 3, characterized in that: Two limit slide blocks (18) are fixedly connected to the inner side wall of the probe protection sleeve (3), and limit slide grooves (17) are provided on both sides of the threaded sleeve (16), and the two limit slide blocks (18) slide in the two limit slide grooves (17) respectively.

5. The inspection robot according to claim 4, characterized in that: The diameter of the circumferential inner wall of the downward limiting ring (10) is greater than the diameter of the threaded sleeve (16).

6. The inspection robot according to claim 5, characterized in that: The outer surface of the inspection frame (1) is covered with a fireproof galvanized steel plate.

7. The inspection robot according to claim 6, characterized in that: A front probe (19) is fixedly connected to one side end of the inspection frame (1), and the front probe (19) is electrically connected to a receiving radar.

8. The inspection robot according to claim 7, characterized in that: A plurality of universal wheels (21) are fixedly connected to the lower end of the inspection frame (1), and a driving wheel (20) is provided at the lower end of the inspection frame (1).

9. The inspection robot according to claim 8, characterized in that: A remote control integrated box (24) is fixedly connected to one side end of the inspection frame (1), and a remote control receiver is arranged inside the remote control integrated box (24).

10. The inspection robot according to claim 9, characterized in that: A recharging assembly (23) is provided at one side end of the inspection frame (1).

Images