Inspection robot and industrial inspection system

Abstract

The invention relates to the technical field of industrial equipment, and discloses an inspection robot and an industrial inspection system. The inspection robot comprises a box body; the industrial personal computer is arranged on the box body; the communication mechanism is arranged in the box body, is in communication connection with the industrial personal computer and is used for communication to transmit data; the movement mechanism is arranged at the bottom of the box body in the height direction of the box body and is in communication connection with the industrial personal computer, and the movement mechanism can receive signals transmitted by the industrial personal computer to drive the inspection robot to move; and the sensing mechanism is arranged on the box body and is in communication connection with the industrial personal computer, and the sensing mechanism is used for collecting data on the peripheral side and transmitting the collected data to the industrial personal computer. According to the invention, the operation state monitoring of the industrial equipment covering the whole inspection area can be realized, and the safety risk is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of industrial equipment, for example, to an inspection robot and an industrial inspection system. Background Art

[0002] Some industrial scenarios often have multiple industrial equipment or large industrial equipment with a wide coverage, such as long-distance tubular belt conveyors that pass through multiple production plants in the industrial raw material transportation system. For such a wide range of industrial scenarios, it is necessary to conduct real-time or periodic checks on the operating status of industrial equipment to ensure the normal operation of the industrial equipment.

[0003] The inspection methods in related technologies include fixed video monitoring, which installs high-definition cameras at key locations to conduct real-time monitoring of the status of industrial equipment. However, fixed video monitoring can only cover key monitoring points and cannot provide all-round monitoring of the entire industrial scene, posing serious safety risks to operation. Summary of the invention

[0004] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0005] The embodiments of the present disclosure provide an inspection robot and an industrial inspection system, which can monitor the operating status of industrial equipment covering the entire inspection area and reduce safety risks.

[0006] In some embodiments, a patrol robot is provided, including: a box body; an industrial computer, which is arranged in the box body; a communication mechanism, which is arranged in the box body and is communicatively connected to the industrial computer, and is used to communicate to transmit data; a motion mechanism, which is arranged at the bottom of the box body along the height direction of the box body and is communicatively connected to the industrial computer, and the motion mechanism can receive the signal transmitted by the industrial computer to drive the patrol robot to move; a sensing mechanism, which is arranged in the box body and is communicatively connected to the industrial computer, and the sensing mechanism is used to collect data from the surrounding side and transmit the collected data to the industrial computer.

[0007] In some embodiments, an industrial inspection system is provided, including: an inspection robot as described in the above embodiments.

[0008] The inspection robot and industrial inspection system provided by the embodiments of the present disclosure can achieve the following technical effects: the inspection robot provided by the embodiments of the present disclosure can flexibly drive the inspection robot to move through the motion mechanism, and use the sensing mechanism and industrial computer mounted on the inspection robot to monitor the operating status of industrial equipment during the movement, so as to achieve the monitoring of the operating status of industrial equipment covering the entire inspection area, thereby avoiding missing detections and false detections and reducing safety risks. In addition, the communication mechanism mounted on the inspection robot can provide real-time feedback on the detection results, and can accept inspection instructions from the outside to achieve automatic cruise monitoring through the industrial computer and the motion mechanism, thereby achieving high automation and flexibility of the inspection task. Compared with related technologies, it is more flexible and can cover the entire inspection area, achieving all-round monitoring of the entire industrial scene and reducing safety risks.

[0009] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0011] Figure 1 is a schematic diagram of the structure of an inspection robot provided by an embodiment of the present disclosure;

[0012] Figure 2 yes Figure 1 A schematic structural diagram of the inspection robot in the illustrated embodiment from another perspective;

[0013] Figure 3 is a schematic structural diagram of an inspection robot provided by another embodiment of the present disclosure;

[0014] Figure 4 is a schematic diagram of the internal structure of an inspection robot provided by another embodiment of the present disclosure;

[0015] Figure 5 is a bottom view of an inspection robot provided by an embodiment of the present disclosure;

[0016] Figure 6 This is a schematic diagram of a structure in which an inspection robot provided by an embodiment of the present disclosure is arranged on a track;

[0017] Figure 7 is a structural schematic diagram of an inspection robot provided by another embodiment of the present disclosure arranged on a track;

[0018] Figure 8 yes Figure 7A schematic diagram of the enlarged structure at X in the embodiment shown;

[0019] Fig. 9 is a schematic structural diagram of an inspection robot provided by another embodiment of the present disclosure;

[0020] Fig.10 yes Fig. 9 A schematic diagram of the enlarged structure at Y in the embodiment shown;

[0021] Fig.11 is a schematic structural diagram of a steering bearing provided by an embodiment of the present disclosure;

[0022] Fig.12 is a structural schematic diagram of a switching assembly provided by an embodiment of the present disclosure;

[0023] Fig.13 is a structural schematic diagram of a first reinforcement member provided by an embodiment of the present disclosure;

[0024] Fig.14 is a schematic structural diagram of a driving chassis provided by an embodiment of the present disclosure;

[0025] Fig.15 is a structural schematic diagram of a fixing member provided by an embodiment of the present disclosure being arranged on a first connecting member;

[0026] Fig.16 is a structural schematic diagram of a box assembly provided by an embodiment of the present disclosure;

[0027] Fig.17 yes Fig.16 A schematic diagram of the enlarged structure at P in the embodiment shown;

[0028] Fig.18 is an exploded view of a box assembly provided by another embodiment of the present disclosure;

[0029] Fig.19 It is a partial structural schematic diagram of a box assembly provided by an embodiment of the present disclosure;

[0030] Fig. 20 is a partial structural schematic diagram of a box assembly provided by another embodiment of the present disclosure;

[0031] Fig.21 is a schematic structural diagram of a second reinforcing member provided in an embodiment of the present disclosure being arranged on a second connecting member;

[0032] Fig. 22 is a structural schematic diagram of a mounting plate provided by an embodiment of the present disclosure;

[0033] Fig.23 yes Fig. 22 A schematic diagram of the enlarged structure at Q in the embodiment shown;

[0034] Fig.24 is a schematic structural diagram of a movable plate provided by an embodiment of the present disclosure;

[0035] Fig.25 is a partial structural schematic diagram of a box assembly provided by another embodiment of the present disclosure;

[0036] Fig.26 is a structural schematic diagram of a second mounting base provided by an embodiment of the present disclosure;

[0037] Fig. 27 is a partial structural schematic diagram of a box assembly provided by another embodiment of the present disclosure;

[0038] Fig.28 is a schematic structural diagram of a third connecting member provided by an embodiment of the present disclosure;

[0039] Fig.29 is a structural schematic diagram of a first connecting sub-component provided by an embodiment of the present disclosure;

[0040] Fig.30 is a schematic structural diagram of a second connecting sub-component provided by an embodiment of the present disclosure;

[0041] Fig.31 is a structural schematic diagram of a first mounting base provided by an embodiment of the present disclosure;

[0042] Fig.32 is a partial structural schematic diagram of a box assembly provided by another embodiment of the present disclosure;

[0043] Fig.33 yes Fig.32 A schematic diagram of the enlarged structure at M in the embodiment shown;

[0044] Fig.34 is a structural schematic diagram of a third installation assembly provided by an embodiment of the present disclosure;

[0045] Fig.35 yes Fig.34 A schematic structural diagram of the third mounting assembly in the illustrated embodiment from another perspective;

[0046] Fig.36 It is a structural diagram of an industrial inspection system provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0047] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0048] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0050] In some embodiments, in combination Figures 1 to 4 As shown, a patrol robot 10 is provided, including a box assembly 100, an industrial computer 200, a communication mechanism 300, a motion mechanism 400 and a sensing mechanism 500. The box assembly 100 includes a box 101. The industrial computer 200 is arranged in the box 101. The communication mechanism 300 is arranged in the box 101 and is connected to the industrial computer 200 for communication and transmission of data. The motion mechanism 400 is arranged at the bottom of the box 101 along the height direction of the box 101 and is connected to the industrial computer 200 for communication. The motion mechanism 400 can receive the signal transmitted by the industrial computer 200 to drive the patrol robot 10 to move. The sensing mechanism 500 is arranged in the box 101 and is connected to the industrial computer 200 for communication. The sensing mechanism 500 is used to collect data from the surrounding side and transmit the collected data to the industrial computer 200.

[0051] In the inspection robot 10 provided in the embodiment of the present disclosure, the box assembly 100 is used to accommodate and fix other key components, such as the industrial computer 200, the sensing mechanism 500 and the communication mechanism 300, so as to realize the modular installation of each component and facilitate the maintenance of each component. At the same time, it provides good physical protection for the internally installed components to prevent the external environment (such as dust, moisture, etc.) from damaging the internal electronic components. The industrial computer 200 is designed for industrial environments, has high computing power and stability, can handle complex inspection tasks, and can operate stably under harsh conditions. The industrial computer 200 is used as the core control unit of the inspection robot 10 to ensure that the inspection robot 10 can complete the inspection tasks efficiently and accurately, and improve the inspection efficiency and quality. The communication mechanism 300 is connected to the industrial computer 200 in communication, and is responsible for communicating with external devices or systems to transmit the inspection data back to the control center in real time, so as to realize remote monitoring and data analysis. The motion mechanism 400 is arranged at the bottom of the box 101 along the height direction of the box 101, and is connected to the industrial computer 200 for communication, and can receive the command of the industrial computer 200 to realize autonomous cruising and adapt to various complex industrial environments. The sensing mechanism 500 is arranged on the box 101, and is connected to the industrial computer 200 for communication, and is used to collect data of the surrounding environment and transmit it to the industrial computer 200 in real time for intelligent analysis to determine the operating status of the industrial equipment and realize the operating status monitoring of the industrial equipment.

[0052] The inspection robot 10 provided in the embodiment of the present disclosure can flexibly drive the inspection robot 10 to move through the motion mechanism 400, and use the sensing mechanism 500 and the industrial computer 200 mounted on the inspection robot 10 to monitor the operating status of industrial equipment during the movement, so as to achieve the monitoring of the operating status of industrial equipment covering the entire inspection area, thereby avoiding missing detections and false detections and reducing safety risks. In addition, the communication mechanism 300 mounted on the inspection robot 10 can feedback the detection results in real time, and can accept inspection instructions from the outside to achieve automatic cruise monitoring through the industrial computer 200 and the motion mechanism 400, thereby achieving high automation and flexibility of the inspection task. Compared with related technologies, it is more flexible and can cover the entire inspection area, realize all-round monitoring of the entire industrial scene, and reduce safety risks.

[0053] In some embodiments, in combination Figures 1 to 4As shown, the housing 101 includes an installation cavity 102. The industrial computer 200 is located in the installation cavity 102. The communication mechanism 300 is located in the installation cavity 102 and is connected to the industrial computer 200 for communication with the outside to transmit data. The installation cavity 102 is used to accommodate and fix other key components, such as the industrial computer 200, the sensing mechanism 500 and the communication mechanism 300, to achieve modular installation of each component and facilitate maintenance of each component. At the same time, it provides good physical protection for the internally installed components to prevent the external environment (such as dust, moisture, etc.) from damaging the internal electronic components.

[0054] Optionally, combined Figures 1 to 5 As shown, the motion mechanism 400 includes a driving mechanism 402 and a parking mechanism 418. The driving mechanism 402 is arranged at the bottom of the box 101 along the height direction of the box 101 and is connected to the industrial computer 200 for communication, and is used to drive the inspection robot 10 to move. The parking mechanism 418 is arranged at the bottom of the box 101 along the height direction of the box 101, and the output end of the parking mechanism 418 is connected to the driving mechanism 402, and is configured to park the inspection robot 10 when it stops moving.

[0055] The output end of the parking mechanism 418 refers to the end portion of the parking mechanism 418 for transmitting the parking force or parking action to other components (the driving mechanism 402 in this embodiment). Based on the specific structure of the parking mechanism 418, the output end of the parking mechanism 418 can be, but is not limited to, a gear, a ratchet, a pawl, or an electromagnetic lock.

[0056] In this embodiment, the drive mechanism 402 is connected to the industrial computer 200 for communication, so that the industrial computer 200 controls the movement mechanism 400 to ensure that the inspection robot 10 can move according to the predetermined path and speed. When the inspection robot 10 needs to stop moving, such as when it reaches the detection point, the output end of the parking mechanism 418 is connected to the drive mechanism 402, so that the parking mechanism 418 can lock the drive mechanism 402 to prevent accidental movement caused by external factors (such as wind, slope, etc.), ensure the stable parking of the inspection robot 10, and improve the stability and safety of the inspection robot 10. In the parking state, the drive mechanism 402 does not need to work continuously, thereby reducing the energy consumption of the inspection robot 10. In this embodiment, by introducing the drive mechanism 402 and the parking mechanism 418, the motion control of the inspection robot 10 is made more precise and flexible, so that the inspection robot 10 can adapt to various complex environments and inspection needs.

[0057] Optionally, combined Figures 1 to 5As shown, the motion mechanism 400 further includes a first controller 401. The first controller 401 is located in the installation cavity 102 and is in communication connection with the industrial computer 200 and the driving mechanism 402. In this embodiment, the first controller 401, as the "brain" of the motion mechanism 400, is located in the installation cavity 102 and is in communication connection with the industrial computer 200. The first controller 401 can respond to the instructions of the industrial computer 200 and control the operation of the motion mechanism 400 to ensure that the inspection robot 10 can move according to the predetermined path and speed.

[0058] In some embodiments, the first controller 401 is a vehicle control unit (VCU), also known as a vehicle controller.

[0059] Optionally, combined Figure 5 As shown, the driving mechanism 402 includes a front axle assembly 403 and a rear axle assembly 406. The front axle assembly 403 is arranged at the bottom of the box body 101 along the height direction of the box body 101. The rear axle assembly 406 is arranged at the bottom of the box body 101 along the height direction of the box body 101, and along the forward direction of the inspection robot 10, the rear axle assembly 406 is located behind the front axle assembly 403. Among them, the first controller 401 is communicatively connected with the front axle assembly 403 and / or the rear axle assembly 406 to control the drive of the inspection robot 10. It can be understood that the first controller 401 is communicatively connected with one or two of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10 to move. The output end of the parking mechanism 418 is connected to the front axle assembly 403 and / or the rear axle assembly 406.

[0060] In this embodiment, the front axle assembly 403 is an integrated component of the front wheel part of the inspection robot 10, and the rear axle assembly 406 is an integrated component of the rear wheel part of the inspection robot 10. The driving mechanism 402 is subdivided into the front axle assembly 403 and the rear axle assembly 406 to maintain the balance and stability of the inspection robot 10. At the same time, through the coordinated work of the front axle assembly 403 and the rear axle assembly 406, the inspection robot 10 can more flexibly cope with various complex terrains and obstacles.

[0061] In this embodiment, the first controller 401 is connected to one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10 to move, so as to receive instructions from the industrial computer 200, and output corresponding driving signals according to the instructions to control the movement of the front axle assembly 403 and / or the rear axle assembly 406 for driving the inspection robot 10 to move, thereby realizing the autonomous movement of the inspection robot 10. The output end of the parking mechanism 418 is connected to the front axle assembly 403 and / or the rear axle assembly 406, so that when the inspection robot 10 needs to stop moving, the parking mechanism 418 can lock the corresponding front axle assembly 403 and / or the rear axle assembly 406 to prevent the inspection robot 10 from accidentally moving due to external factors, thereby ensuring the stability and safety of the inspection robot 10.

[0062] In an actual application, the front axle assembly 403 is used to drive the inspection robot 10 to move. At this time, the front axle assembly 403 is connected to the first controller 401 in communication to drive the inspection robot 10 to move in response to the driving signal output by the first controller 401, and the output end of the parking mechanism 418 is connected to the rear axle assembly 406.

[0063] In this embodiment, the front axle assembly 403 is configured as a driving component for the movement of the inspection robot 10, and receives and responds to the driving signal through the communication connection with the first controller 401, thereby driving the inspection robot 10 to move along a predetermined path and speed. The first controller 401, as the core of motion control, establishes a communication connection with the front axle assembly 403. The first controller 401 receives instructions from the industrial computer 200, parses the instructions to generate corresponding driving signals, and then sends the driving signals to the front axle assembly 403 to achieve control of the movement of the inspection robot 10. In this embodiment, although the rear axle assembly 406 does not directly participate in the drive, it provides the necessary support and stability to ensure that the inspection robot 10 maintains balance during movement. In addition, the output end of the parking mechanism 418 is connected to the rear axle assembly 406. When the inspection robot 10 stops moving, the parking mechanism 418 can lock the rear axle assembly 406 to prevent the inspection robot 10 from accidentally moving due to external factors, thereby improving the safety of the inspection robot 10 and reducing the potential risks caused by accidental movement.

[0064] In an actual application, the rear axle assembly 406 is used to drive the inspection robot 10 to move. At this time, the rear axle assembly 406 is connected to the first controller 401 in communication to drive the inspection robot 10 to move in response to the driving signal output by the first controller 401, and the output end of the parking mechanism 418 is connected to the front axle assembly 403.

[0065] In this embodiment, the rear axle assembly 406 is configured as a driving component for the inspection robot 10 to move, and receives and responds to a driving signal through a communication connection with the first controller 401, thereby driving the inspection robot 10 to move along a predetermined path and speed. By configuring the rear axle assembly 406 as a driving component for the inspection robot 10 to move, a more powerful driving force can be provided for the inspection robot 10, especially when a large resistance or slope needs to be overcome. The first controller 401, as the core of motion control, establishes a communication connection with the rear axle assembly 406. The first controller 401 receives instructions from the industrial computer 200, parses the instructions to generate a corresponding driving signal, and then sends the driving signal to the rear axle assembly 406 to control the movement of the inspection robot 10. In this embodiment, although the front axle assembly 403 is not directly involved in the drive, it provides the necessary support and stability to ensure that the inspection robot 10 maintains balance during movement. In addition, the output end of the parking mechanism 418 is connected to the front axle assembly 403. When the inspection robot 10 stops moving, the parking mechanism 418 can lock the front axle assembly 403 to prevent the inspection robot 10 from accidentally moving due to external factors, thereby improving the safety of the inspection robot 10 and reducing potential risks caused by unexpected movement.

[0066] In an actual application, the front axle assembly 403 and the rear axle assembly 406 are used to drive the inspection robot 10 to move. At this time, the front axle assembly 403 and the rear axle assembly 406 are both connected to the first controller 401 in communication to drive the inspection robot 10 to move in response to the driving signal output by the first controller 401, and the output end of the parking mechanism 418 is connected to the front axle assembly 403 and / or the rear axle assembly 406.

[0067] In this embodiment, the front axle assembly 403 and the rear axle assembly 406 are both configured as drive components for the movement of the inspection robot 10. Through the communication connection with the first controller 401, the front axle assembly 403 and the rear axle assembly 406 can simultaneously receive and respond to the drive signal from the first controller 401, and jointly drive the inspection robot 10 to move along a predetermined path and speed. This dual-drive design enables the inspection robot 10 to more flexibly cope with various complex terrains and obstacles, helps to improve the stability of the inspection robot 10 during movement, and reduces the risk caused by the failure of a single drive. As the core of motion control, the first controller 401 establishes a communication connection with both the front axle assembly 403 and the rear axle assembly 406. The first controller 401 receives instructions from the industrial computer 200, parses the instructions to generate corresponding drive signals, and then sends the drive signals to the front axle assembly 403 and the rear axle assembly 406 to achieve accurate and flexible control of the movement of the inspection robot 10. For example, the first controller 401 can flexibly adjust the driving force distribution of the front axle assembly 403 and the rear axle assembly 406 according to actual needs. For example, on a flat road, the front axle assembly 403 can be mainly relied on to provide driving force; when climbing a slope or encountering greater resistance, the rear axle assembly 406 can be started to provide additional driving force. This flexible driving strategy improves the driving efficiency and energy utilization of the inspection robot 10. In addition, the output end of the parking mechanism 418 is connected to the front axle assembly 403 and / or the rear axle assembly 406. When the inspection robot 10 stops moving, the parking mechanism 418 can lock the front axle assembly 403 and / or the rear axle assembly 406 to prevent the inspection robot 10 from accidentally moving due to external factors (such as wind, slope, etc.), thereby improving the safety of the inspection robot 10 and reducing the potential risks caused by accidental movement.

[0068] Optionally, combined Figure 5 As shown, the driving mechanism 402 further includes a first brake 417. The first brake 417 is disposed on the front axle assembly 403 and / or the rear axle assembly 406 and is in communication connection with the first controller 401, and is configured to brake in response to a brake signal of the first controller 401.

[0069] In this embodiment, the first brake 417 is configured to brake in response to the brake signal of the first controller 401. When it is detected that the inspection robot 10 needs to stop moving or slow down, the first controller 401 sends a brake signal to the first brake 417, so that the first brake 417 acts on the front axle assembly 403 and / or the rear axle assembly 406 to ensure that the inspection robot 10 can stop safely and smoothly. In this embodiment, the first brake 417 is further introduced on the basis of the parking mechanism 418 to further enhance the braking performance of the inspection robot 10, so that the inspection robot 10 can quickly respond to the brake signal in a short time, slow down or stop the movement of the inspection robot 10, thereby avoiding excessive movement or collision caused by inertia. By improving the braking performance, the safety of the inspection robot 10 is improved. For example, in an emergency, such as encountering obstacles, personnel or other emergencies, the inspection robot 10 can quickly brake and stop moving, thereby avoiding potential dangers and losses.

[0070] In some embodiments, the first brake 417 is an electromagnetic brake. The structure of the electromagnetic brake mainly includes electromagnetic coils, fixed discs, brake discs and springs. Among them, the electromagnetic coil is the core part of the electromagnetic brake, and the electromagnetic brake controls the generation and disappearance of the magnetic field by changing the magnitude and direction of the current. The fixed disc and the brake disc are connected by threads, and there is a friction plate on the brake disc to increase the friction between the brake disc and the fixed disc. The spring plays a role of buffering and supporting to ensure the normal operation of the brake. The working principle of the electromagnetic brake is mainly to use electromagnetic force to achieve braking and stop movement. When power is turned on, the electromagnetic coil generates a magnetic field, and the magnetic field attracts the brake disc, causing it to generate friction with the fixed disc, thereby achieving the braking effect. When power is not turned on, the electromagnetic coil does not generate a magnetic field, and the friction between the brake disc and the fixed disc disappears and the movement can continue.

[0071] In some embodiments, the first brake 417 is disposed in one or both of the front axle assembly 403 and the rear axle assembly 406 to drive the inspection robot 10 to move.

[0072] In this embodiment, the first brake 417 is used to slow down or stop the movement of the inspection robot 10, and is provided at one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10. It can be understood that when the front axle assembly 403 is used to drive the inspection robot 10, the first brake 417 is provided at the front axle assembly 403; when the rear axle assembly 406 is used to drive the inspection robot 10, the first brake 417 is provided at the rear axle assembly 406; when both the front axle assembly 403 and the rear axle assembly 406 are used to drive the inspection robot 10, the first brake 417 is provided at the front axle assembly 403 and the rear axle assembly 406, respectively. By directly installing the first brake 417 on the front axle assembly 403 and / or the rear axle assembly 406 that drives the inspection robot 10, the first brake 417 can directly act on the front axle assembly 403 and / or the rear axle assembly 406 that serve as driving components, thereby enhancing the braking capability of the inspection robot 10 and enabling the inspection robot 10 to respond to braking signals more quickly and accurately when it needs to stop or slow down, thereby improving the safety of the inspection robot 10.

[0073] Optionally, combined Figure 5 As shown, when the rear axle assembly 406 is used to drive the box 101 to move, the rear axle assembly 406 includes a first walking assembly 407 and a power assembly 414. The first walking assembly 407 is arranged at the bottom of the box 101 along the height direction of the box 101. The power assembly 414 is arranged at the bottom of the box 101 along the height direction of the box 101 and the output end of the power assembly 414 is connected to the input end of the first walking assembly 407, and is used to drive the first walking assembly 407 to move, so as to drive the inspection robot 10 to move. Among them, the output end of the parking mechanism 418 is connected to the front axle assembly 403.

[0074] In this embodiment, the output end of the power assembly 414 refers to the part of the power assembly 414 that is responsible for outputting mechanical power or energy to the outside. The input end of the first walking assembly 407 refers to the part of the first walking assembly 407 that is connected to the power source (in this embodiment, the power assembly 414) and receives the driving force. The output end of the power assembly 414 is connected to the input end of the first walking assembly 407, and the power assembly 414 drives the movement of the first walking assembly 407 by transmitting torque or force. The first walking assembly 407, as the direct executor of the movement of the inspection robot 10, is responsible for converting the driving force into actual movement. In this embodiment, when the driving mechanism 402 also includes a first brake 417 and the first brake 417 is arranged on the rear axle assembly 406, the first brake 417 is located in the first walking assembly 407.

[0075] Optionally, combined Figure 5As shown, the power assembly 414 includes a driving motor 415 and a reducer 416. The driving motor 415 is arranged at the bottom of the box body 101 along the height direction of the box body 101. The input end of the reducer 416 is connected to the output end of the driving motor 415, and the output end of the reducer 416 is connected to the input end of the first walking assembly 407.

[0076] In this embodiment, the output end of the drive motor 415 refers to the part of the drive motor 415 that generates rotational power, that is, the shaft of the drive motor 415. The input end of the reducer 416 refers to the part of the reducer 416 that receives the rotational power, and the output end of the reducer 416 is the part of the reducer 416 that outputs the rotational power after deceleration and torque increase. The drive motor 415 is the power source of the power assembly 414, which is used to convert electrical energy into mechanical energy to provide power for the movement of the inspection robot 10. The reducer 416 is used to convert the high-speed rotation of the drive motor 415 into a low-speed and high-torque output to meet the needs of the inspection robot 10 when it moves. Through the reducer 416, the speed of the drive motor 415 can be effectively reduced, and the output torque can be increased at the same time, so that the inspection robot 10 can move stably on various terrains. In this embodiment, the direct connection between the drive motor 415 and the reducer 416 reduces the loss in the energy transfer process, improves the efficiency of power transmission, and enables the inspection robot 10 to respond to instructions more quickly and stably when moving. The speed reducer 416 is used to reduce the rotation speed to increase the output torque, so that the inspection robot 10 can maintain stable mobility when facing complex terrain or needing to overcome greater resistance. At the same time, the increased torque also helps to improve the climbing ability and obstacle crossing ability of the inspection robot 10, thereby improving the reliability of the inspection robot 10.

[0077] Optionally, combined Figure 5 As shown, the first walking assembly 407 includes a first transmission member 408 and a walking wheel 410. The first transmission member 408 is arranged at the bottom of the box body 101 along the height direction of the box body 101, and the input end of the first transmission member 408 is connected to the output end of the power assembly 414. The walking wheel 410 is fixedly connected or detachably connected to the output end of the first transmission member 408.

[0078] In this embodiment, the input end of the first transmission member 408 refers to the part of the first transmission member 408 that is connected to the power source (in this embodiment, the power assembly 414) and receives the driving force. The output end of the first transmission member 408 refers to the part of the first transmission member 408 that is responsible for transmitting power or motion to the walking wheel 410. The input end of the first transmission member 408 is connected to the output end of the power assembly 414, and is used to further transmit the power output by the power assembly 414 to meet the needs of the walking wheel 410. The walking wheel 410 is the direct executor of the movement of the inspection robot 10. Among them, the walking wheel 410 is fixedly connected or detachably connected to the output end of the first transmission member 408. The walking wheel 410 is detachably connected to the output end of the first transmission member 408, so as to facilitate replacement and maintenance when the walking wheel 410 is worn or damaged, or to replace different walking wheels 410 according to the needs of the use environment, such as rubber wheels, metal wheels, etc. In this embodiment, when the driving mechanism 402 further includes a first brake 417 and the first brake 417 is located in the first traveling assembly 407, the first brake 417 is disposed on the first transmission member 408 and is connected to a side of the traveling wheel 410 close to the first transmission member 408. When the first brake 417 is an electromagnetic holding brake, a brake disc in the electromagnetic holding brake is connected to the traveling wheel 410.

[0079] Optionally, combined Figures 1 to 5 As shown, there are two running wheels 410 , and both running wheels 410 are fixedly connected or detachably connected to the output end of the first transmission member 408 .

[0080] In this embodiment, the number of running wheels 410 is designed to be two, and the design of two running wheels 410 enables the inspection robot 10 to maintain better stability and balance during movement. For example, on uneven terrain, the two running wheels 410 can disperse the weight of the inspection robot 10, reduce the force on a single wheel, and thus reduce the risk of wheel wear and damage. At the same time, the two running wheels 410 can also provide better grip to prevent the inspection robot 10 from sliding or tipping over during movement, thereby improving the stability of the inspection robot 10; when the inspection robot 10 is turning or encountering an obstacle, the two running wheels 410 can work together to keep the center of gravity of the inspection robot 10 stable, prevent imbalance caused by center of gravity shift, and thus improve the balance of the inspection robot 10.

[0081] In some embodiments, in combination Figure 5 As shown, when the driving mechanism 402 also includes a first brake 417 and the first brake 417 is arranged on the first transmission member 408 and is connected to the side of the walking wheel 410 close to the first transmission member 408, the number of the first brakes 417 is two, and the two first brakes 417 are arranged in a one-to-one correspondence with the two walking wheels 410.

[0082] In some embodiments, the first transmission member 408 includes a steering gear (not shown in the figure) and a transmission shaft (not shown in the figure). The input end of the steering gear is connected to the output end of the power assembly 414, and the output end of the steering gear is connected to the transmission shaft. The opposite ends of the transmission shaft are fixedly connected or detachably connected to the walking wheel 410. The input end of the steering gear refers to the part of the steering gear connected to the output end of the power assembly 414, allowing power to be transferred from the power assembly 414 to the inside of the steering gear. The output end of the steering gear refers to the part of the steering gear connected to the transmission shaft, allowing power to be transferred from the inside of the steering gear to the transmission shaft. The steering gear is a device that converts the power on the vertical transmission shaft (the output end of the power assembly 414 in this embodiment, such as the output shaft of the reducer 416) along 90° to the horizontal transmission shaft. The two vertical transmission shafts connected by the steering gear can achieve the change of transmission direction.

[0083] Optionally, combined Figure 6 As shown, the motion mechanism 400 further includes a track 424. The running wheel 410 includes a track wheel 411, which is rollingly connected to the track 424, and the track wheel 411 can roll relative to the track 424 along the extension direction of the track 424.

[0084] In this embodiment, the running wheel 410 is designed as a track wheel 411, and the running wheel 410 is connected to the track 424 in a rolling manner, so that the track wheel 411 can roll freely along the extension direction of the track 424, thereby guiding the inspection robot 10 to move along a preset path (the extension direction of the track 424). In this embodiment, the track 424 provides a clear moving path for the inspection robot 10. The track wheel 411 rolls along the track 424, thereby ensuring the path accuracy of the inspection robot 10 during movement. The track 424 provides a full moving channel and a stable support surface for the inspection robot 10, and the track wheel 411 can roll smoothly along the track 424, reducing the shaking or deviation caused by uneven terrain or external force interference, and enhancing the stability and safety of the inspection robot 10 during movement. In addition, the track 424 can also reduce the resistance that the inspection robot 10 needs to overcome during movement, thereby further reducing energy consumption and improving inspection efficiency.

[0085] Optionally, combined Figures 6 to 8 As shown, the track wheel 411 includes an abutment portion 412 and a running portion 413. The abutment portion 412 is fixedly connected or detachably connected to the output end of the first transmission member 408. The running portion 413 is connected to one side of the abutment portion 412. In the process of the track wheel 411 rolling relative to the track 424, the running portion 413 is rollingly connected to the top of the track 424, and the abutment portion 412 abuts against the inner side or outer side of the track 424.

[0086] In this embodiment, the abutment portion 412 is connected to the output end of the first transmission member 408 to ensure that power can be smoothly transmitted to the track wheel 411. The walking portion 413 is connected to one side of the abutment portion 412 and is rollingly connected to the top of the track 424 to guide the inspection robot 10 to move along the track 424. In the process of the track wheel 411 rolling relative to the track 424, the abutment portion 412 abuts against the inner side or outer side of the track 424, providing an additional support point for the track wheel 411, enhancing the stability of the inspection robot 10 during movement, preventing the inspection robot 10 from shaking or deviating from the track 424 when moving at high speed or encountering external force interference, and improving the safety of the inspection robot 10.

[0087] Optionally, combined Figures 6 to 8 As shown, when the abutting portion 412 abuts against the inner side surface of the track 424, the running portion 413 is truncated cone-shaped, and the diameter of the cross section of the running portion 413 gradually decreases from the side connected to the abutting portion 412 toward the side away from the abutting portion 412.

[0088] In this embodiment, the walking portion 413 is in a truncated cone shape, and the diameter of the cross section of the walking portion 413 gradually decreases from the side connected to the abutting portion 412 toward the side away from the abutting portion 412. Since the abutting portion 412 abuts against the inner side surface of the track 424, the walking portion 413 is connected to the top of the track 424 in a rolling manner, so that when the track wheel 411 rolls on the track 424, the abutting portion 412 abutting against the inner side surface of the track 424 can generate a deflection force, so that the track wheel 411 rolls stably relative to the track 424. At the same time, by using the abutting portion 412 abutting against the inner side surface of the track 424, it can effectively prevent the inspection robot 10 from tipping over or leaving the track 424 during the movement along the track 424.

[0089] Optionally, the track 424 includes a track base (not shown in the figure), a first support portion (not shown in the figure) and a supporting portion (not shown in the figure). The first supporting portion is arranged on the track base. The supporting portion is arranged on the first supporting portion. The track wheel 411 is rollingly connected to the supporting portion.

[0090] In this embodiment, the track base is used to carry the track 424 and all loads on the track 424. The first support portion is provided on the track base, and is used to support and fix the support portion. The support portion is rollingly connected with the track wheel 411 to provide a stable rolling path for the track wheel 411. In this embodiment, the structural design of the track 424 combined with the track base, the first support portion and the support portion provides a stable and smooth rolling path for the track wheel 411.

[0091] Optionally, along the height direction of the track 424 , from bottom to top, the width of the track base gradually decreases.

[0092] In this embodiment, along the height direction of the track 424, from bottom to top, the width of the track base gradually decreases, that is, from the bottom to the top of the track base, its cross-sectional width gradually decreases. By gradually reducing the width of the track base from bottom to top along the height direction of the track 424, the track base presents a conical, stepped or other gradually shrinking geometric shape. In this embodiment, by gradually reducing the width of the track base, while ensuring structural safety, unnecessary material use is reduced, thereby reducing costs, reducing weight, reducing pressure on the foundation, and reducing transportation and installation costs. In addition, by gradually reducing the width of the track base, it helps to reduce the air resistance generated when the inspection robot 10 passes, thereby improving the operating efficiency and energy consumption performance of the inspection robot 10.

[0093] Optionally, the supporting part includes a first connecting part (not shown in the figure) and a guiding part (not shown in the figure), the first connecting part is connected to the first supporting part, the guiding part is connected to the first connecting part, and the track wheel 411 is rollingly connected to the guiding part, wherein along the height direction of the track 424, from bottom to top, the width of the first connecting part gradually increases.

[0094] In this embodiment, the first connection portion is used to connect the guide portion and the first support portion to ensure the stability and continuity of the track 424. The guide portion is used to guide the track wheel 411 to roll. Along the height direction of the track 424, from bottom to top, the width of the first connection portion gradually increases, so that the first connection portion presents a gradually expanding shape in the vertical direction. By gradually increasing the width of the first connection portion to enhance the structural stability of the supporting portion, the pressure generated when the track wheel 411 passes through can be more effectively dispersed, the service life can be extended, and better support can be provided for the guide portion, ensuring that the track wheel 411 remains stable and efficient during rolling.

[0095] Optionally, combined Figure 5 As shown, the motion mechanism 400 further includes a second controller 430. The second controller 430 is disposed at the bottom of the box body 101 along the height direction of the box body 101, and the signal input end of the second controller 430 is communicatively connected to the signal output end of the first controller 401, and the signal output end of the second controller 430 is communicatively connected to one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10 to move.

[0096] In this embodiment, the signal output end of the first controller 401 refers to the part of the first controller 401 that is responsible for sending control signals or instructions to the outside. The signal input end of the second controller 430 refers to the part of the second controller 430 that is responsible for receiving control signals or instructions. The second controller 430 is introduced to realize the hierarchical motion control of the inspection robot 10. Specifically, the first controller 401 is responsible for higher-level decision-making and planning, such as path planning, obstacle avoidance, etc., and the second controller 430 focuses on execution-level control, such as directly driving the drive motor 415 in one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10 to move. The hierarchical control of motion makes the control system of the inspection robot 10 more flexible, able to respond to environmental changes more quickly, optimize resource allocation, and improve energy efficiency. For example, on flat ground, the second controller 430 can reduce the output power of the drive motor 415 to reduce energy consumption; in complex terrain, the second controller 430 can increase the power to ensure the stability and passability of the inspection robot 10, and dynamically adjust the power and speed of the drive motor 415 according to actual needs, thereby optimizing resource allocation. In addition, through the communication connection between the second controller 430 and the first controller 401, even if one of the controllers fails, the other controller can still take over part or all of the control tasks to ensure the continuous operation of the inspection robot 10.

[0097] Optionally, combined Figure 5 As shown, when the rear axle assembly 406 is used to drive the box 101 to move, the front axle assembly 403 includes a second travel assembly 404. The second travel assembly 404 is arranged at the bottom of the box 101 along the height direction of the box 101 and is connected to the output end of the parking mechanism 418.

[0098] In this embodiment, the rear axle assembly 406 is used to provide a driving force to push the box 101 to move on the ground, thereby driving the inspection robot 10 to move. The rear axle assembly 406 includes a first walking assembly 407 and a power assembly 414, and the front axle assembly 403 includes a second walking assembly 404. The output end of the power assembly 414 is connected to the input end of the first walking assembly 407 to provide a driving force to drive the first walking assembly 407 to move. The first walking assembly 407 and the second walking assembly 404 are the direct executors of the movement of the inspection robot 10, and are responsible for converting the driving force into actual movement. Specifically, the power assembly 414 drives the first walking assembly 407 to move, so as to drive the box 101 to move, and then drive the second walking assembly 404 to move, so as to achieve the stable movement of the inspection robot 10. In this embodiment, the output end of the parking mechanism 418 is connected to the second walking assembly 404, so as to lock the second walking assembly 404 when parking is required, so as to ensure the stable parking of the inspection robot 10.

[0099] Optionally, combined Figure 5 As shown, the second traveling assembly 404 includes a second transmission member 405 and a traveling wheel 410. The second transmission member 405 is arranged at the bottom of the box body 101 along the height direction of the box body 101, and is connected to the output end of the parking mechanism 418. The traveling wheel 410 is fixedly connected or detachably connected to the output end of the second transmission member 405.

[0100] In this embodiment, the second transmission member 405 is used to transmit power to the running wheel 410 so that the running wheel 410 can roll relative to the ground or the track 424. The running wheel 410 is detachably connected to the output end of the second transmission member 405, so that the running wheel 410 can be replaced and maintained when it is worn or damaged, or different running wheels 410 can be replaced according to the needs of the use environment. In addition, the output end of the parking mechanism 418 is connected to the second transmission member 405, so that when parking is required, the second transmission member 405 is locked to stop the transmission of power, thereby locking the running wheel 410 to ensure the stable parking of the inspection robot 10.

[0101] In some embodiments, in combination Figures 1 to 8 As shown, there are two running wheels 410 , and both running wheels 410 are fixedly connected or detachably connected to the output end of the second transmission member 405 .

[0102] In some embodiments, the specific structure of the second transmission member 405 can refer to the first transmission member 408 in the above embodiments, which will not be described again here.

[0103] Optionally, combined Figure 5 As shown, the parking mechanism 418 includes a tensioning member 419, a mechanical tensioning assembly 421 and a second brake (not shown in the figure). The mechanical tensioning assembly 421 is arranged at the bottom of the box body 101 along the height direction of the box body 101 and is connected to the output end of the tensioning member 419. The second brake is arranged on the driving mechanism 402 and is connected to the output end of the mechanical tensioning assembly 421.

[0104] In this embodiment, the output end of the tensioning member 419 refers to the portion of the tensioning member 419 that is ready to transfer the tension to the next component (in this embodiment, the mechanical tensioning component 421). The output end of the mechanical tensioning component 421 refers to the portion of the mechanical tensioning component 421 that transfers the tension to the next component (such as the second brake). The tensioning member 419 serves as a power source for the parking mechanism 418 and is used to provide tension to drive the parking mechanism 418 to work. The mechanical tensioning component 421 is used to transfer the tension generated by the tensioning member 419 to the second brake, thereby achieving braking or locking of the drive mechanism 402. The second brake is used to brake or lock the drive mechanism 402, thereby preventing the drive mechanism 402 from continuing to rotate or move, so as to prevent the inspection robot 10 from accidentally moving due to external factors.

[0105] Optionally, combined Figure 5 As shown, the tensioning member 419 includes a mechanical tensioning member (not shown) and / or an electric tensioning member 420, and the output end of the mechanical tensioning member and / or the electric tensioning member 420 is connected to the input end of the mechanical tensioning assembly 421. The output end of the mechanical tensioning member and the electric tensioning member 420 refers to the part that is ready to transfer the tension to the next assembly (the mechanical tensioning assembly 421 in this embodiment). The input end of the mechanical tensioning assembly 421 refers to the part of the mechanical tensioning assembly 421 that receives the tension from the tensioning member 419 (mechanical tensioning member or electric tensioning member 420). In this embodiment, the tensioning member 419 is used to provide tension to brake or lock the driving mechanism 402.

[0106] In some embodiments, the tensioning member 419 includes a mechanical tensioning member, such as a handle. The mechanical tensioning member drives the mechanical tensioning assembly 421 through manual mechanical movement to achieve braking or locking of the driving mechanism 402. The mechanical tensioning member has the advantages of simple structure, reliability and durability, and does not require additional power supply.

[0107] In some embodiments, in combination Figure 5 As shown, the tensioning member 419 includes an electric tensioning member 420, such as a motor. The electric tensioning member 420 generates a pulling force by electric drive to achieve braking or locking of the drive mechanism 402. The advantages of the electric tensioning member 420 are easy operation, quick response, and the ability to adjust the magnitude and speed of the pulling force as needed. In this embodiment, the electric tensioning member 420 can be connected to the first controller 401 in communication to lock the drive mechanism 402 in response to a parking signal from the first controller 401.

[0108] In some embodiments, the tensioning member 419 includes a mechanical tensioning member and an electric tensioning member 420. By combining the dual design of the mechanical tensioning member and the electric tensioning member 420, the reliability and safety of the parking mechanism 418 are improved. For example, when one of the mechanical tensioning member and the electric tensioning member 420 fails or fails to work, the other can still work normally, providing double protection for the parking mechanism 418, thereby improving the reliability and safety of the parking mechanism 418. By combining the dual design of the mechanical tensioning member and the electric tensioning member 420, the parking mechanism 418 can select different tensioning methods according to actual needs, thereby improving the flexibility of the parking mechanism 418. For example, in situations where rapid response and precise control are required, the electric tensioning member 420 can be selected; in situations where there is no power supply or manual operation is required, the mechanical tensioning member can be selected.

[0109] Optionally, combined Figure 5As shown, when the tensioning member 419 includes the electric tensioning member 420 , the parking mechanism 418 further includes a third controller 423 . The third controller 423 is disposed at the bottom of the box 101 along the height direction of the box 101 , and is in communication connection with both the first controller 401 and the electric tensioning member 420 .

[0110] In this embodiment, the third controller 423 is introduced to realize the hierarchical motion control of the inspection robot 10. Specifically, the first controller 401 is responsible for higher-level decision-making and planning, such as path planning, obstacle avoidance, etc., and the third controller 423 focuses on execution-level control, such as driving the electric tensioning member 420 to lock the driving mechanism 402. Through the communication connection between the third controller 423 and the first controller 401, even if one of the controllers fails, the other controller can still take over part or all of the control tasks to ensure the stable operation of the inspection robot 10.

[0111] In some embodiments, the third controller 423 is in communication with the first brake 417. In this embodiment, the third controller 423 is in communication with both the first brake 417 and the electric tensioner 420 to control the braking and parking of the inspection robot 10 to ensure stable parking of the inspection robot 10.

[0112] Optionally, combined Figure 5 As shown, the mechanical tensioning assembly 421 includes a brake line 422. The opposite ends of the brake line 422 are respectively connected to the tensioning member 419 and the second brake. The brake line 422 is used to transmit the tension generated by the tensioning member 419 to the second brake. Through the tension of the tensioning member 419, the brake line 422 is stretched and generates tension, thereby driving the second brake to brake or lock the driving mechanism 402.

[0113] Optionally, the second brake includes a disc brake (not shown in the figure). The disc brake is arranged on the driving mechanism 402 and is connected to the output end of the mechanical tensioning assembly 421. In this embodiment, the disc brake is the output end of the parking mechanism 418. The disc brake is a braking system, also known as a disc brake. Due to its excellent heat dissipation performance and stable braking effect, the disc brake is widely used in high-performance vehicles and scenes requiring frequent braking.

[0114] Optionally, combined Figures 1 to 7 As shown, the motion mechanism 400 further includes an emergency stop switch 431. The emergency stop switch 431 is disposed on the housing 101 and is in communication connection with the first controller 401.

[0115] In this embodiment, the emergency stop switch 431 is provided on the box 101, so that the operator can quickly stop the movement of the inspection robot 10 in an emergency. In this embodiment, the emergency stop switch 431 is connected to the first controller 401 for communication. When the emergency stop switch 431 is triggered, the emergency stop switch 431 sends an emergency stop signal to the first controller 401. After receiving the emergency stop signal, the first controller 401 immediately performs emergency braking and parking on the driving mechanism 402 to ensure the safety of the inspection robot 10.

[0116] In some embodiments, in combination Figures 1 to 7 As shown, there are two emergency stop switches 431, and along the forward direction of the inspection robot 10, the two emergency stop switches 431 are respectively located on two opposite sides of the box 101, and the two emergency stop switches 431 are both communicatively connected to the first controller 401. In this embodiment, by increasing the number of emergency stop switches 431 and setting two emergency stop switches 431 on two opposite sides of the box 101, the technicians can trigger the emergency stop switches 431 in different directions, thereby improving the convenience and safety of the inspection robot 10.

[0117] Optionally, combined Fig. 9 and Fig.10 As shown, the motion mechanism 400 further includes a switching mechanism 432. The switching mechanism 432 is disposed at the bottom of the box body 101 along the height direction of the box body 101 and is connected to the driving mechanism 402. In this embodiment, the switching mechanism 432 is used to connect the bottom of the box body 101 and the driving mechanism 402.

[0118] In some embodiments, the adapter mechanism 432 is detachably connected to the bottom of the box 101. In this embodiment, the adapter mechanism 432 is detachably connected to the bottom of the box 101, so as to facilitate replacement and maintenance when the drive mechanism 402 is damaged, or to replace the drive mechanism 402 according to the needs of the use environment.

[0119] Optionally, combined Figures 9 to 11 As shown, the adapter mechanism 432 includes a steering bearing 449 and an adapter assembly 433. The steering bearing 449 is arranged at the bottom of the box body 101 along the height direction of the box body 101. The adapter assembly 433 is arranged at the steering bearing 449 and is connected to the driving mechanism 402. The steering bearing 449 is rotatably connected to at least one of the bottom of the box body 101 and the adapter assembly 433.

[0120] In this embodiment, the adapter assembly 433 is used to connect the drive mechanism 402, and the steering bearing 449 is rotatably connected to at least one of the bottom of the box 101 and the adapter assembly 433 to allow the adapter assembly 433 to rotate relative to the box 101. By arranging the steering bearing 449 between the bottom of the box 101 and the adapter assembly 433, and enabling the adapter mechanism 432 to flexibly adjust the movement direction of the inspection robot 10, the stability of the movement of the inspection robot 10 is improved. Specifically, the steering bearing 449 allows the adapter assembly 433 to rotate relative to the box 101, so that the inspection robot 10 can easily travel along the curved path, better adapt to the slight changes of the track 424, reduce the bumpy feeling caused by the unevenness or deformation of the track 424, and improve the flexibility and stability of the inspection robot 10. In addition, through the steering bearing 449, the drive mechanism 402 can move more smoothly when turning, reduce the friction between the track wheel 411 and the track 424, and reduce wear.

[0121] In some embodiments, the steering bearing 449 and the adapter assembly 433 are detachably connected. In this embodiment, the steering bearing 449 and the adapter assembly 433 are detachably connected to facilitate replacement and maintenance of the drive mechanism 402 when it is damaged, or to replace the drive mechanism 402 according to the needs of the use environment.

[0122] Optionally, combined Fig.12 As shown, the adapter assembly 433 includes an adapter plate 434, an adapter 438 and a clamping member 442. The adapter plate 434 is disposed on the steering bearing 449. The adapter 438 is connected to a side of the adapter plate 434 away from the steering bearing 449. The clamping member 442 is connected to an end of the adapter 438 away from the adapter plate 434, and the clamping member 442 includes a first clamping plate 443, and the first clamping plate 443 is connected to the driving mechanism 402.

[0123] In this embodiment, the adapter plate 434, the adapter 438 and the clamping member 442 together constitute the adapter assembly 433. The adapter plate 434 is used to connect the adapter 438 and the steering bearing 449. The clamping member 442 is used to connect the adapter 438 and the drive mechanism 402. The steering bearing 449 and the drive mechanism 402 are stably connected through the adapter plate 434, the adapter 438 and the clamping member 442.

[0124] In some embodiments, the steering bearing 449 and the adapter plate 434 are rotatably connected.

[0125] In some embodiments, the steering bearing 449 and the adapter plate 434 are detachably connected.

[0126] Optionally, combined Fig.12As shown, the adapter plate 434 includes a steering surface 435 close to the steering bearing 449 and an adapter surface 436 arranged opposite to the steering surface 435. The steering surface 435 is connected to the steering bearing 449. The adapter plate 434 is provided with an adapter flange 437 on the adapter surface 436. Extending from the steering surface 435 toward the adapter surface 436, the adapter flanges 437 are respectively formed on the opposite sides of the adapter surface 436. The adapter surface 436 and the adapter flange 437 are fixedly connected to the adapter 438. In this embodiment, by extending from the steering surface 435 toward the adapter surface 436, the adapter flanges 437 are respectively formed on the opposite sides of the adapter surface 436, so as to achieve one-piece molding to enhance the structural strength of the adapter plate 434. In addition, the adapter 438 is fixedly connected to the adapter surface 436 and the adapter flange 437, which increases the connection area between the adapter 438 and the adapter plate 434, thereby improving the connection strength between the adapter 438 and the adapter plate 434 and improving the structural strength of the adapter assembly 433.

[0127] Optionally, combined Fig.12 As shown, the adapter 438 includes a first adapter plate 439, a second adapter plate 440 and a third adapter plate 441. The planes where the first adapter plate 439 and the second adapter plate 440 are located are parallel to each other, and the plane where the third adapter plate 441 is located is perpendicular to the planes where the first adapter plate 439 and the second adapter plate 440 are located. Among them, the planes where the first adapter plate 439 and the second adapter plate 440 are located are perpendicular to the planes where the adapter surface 436 and the adapter flange 437 are located. The plane where the third adapter plate 441 is located is parallel to the adapter surface 436. The first adapter plate 439, the second adapter plate 440 and the third adapter plate 441 are integrally formed. The first adapter plate 439 and the second adapter plate 440 are fixedly connected to the adapter surface 436 and the adapter flange 437. The third adapter plate 441 is connected to the clamping member 442. In this embodiment, the first adapter plate 439 , the second adapter plate 440 and the third adapter plate 441 are integrally formed to enhance the structural strength of the adapter 438 , thereby enhancing the structural strength of the adapter assembly 433 .

[0128] Optionally, combined Fig.12As shown, the clamping member 442 also includes a second clamping plate 445. There are two first clamping plates 443, and the two first clamping plates 443 are respectively located on opposite sides of the second clamping plate 445, and the planes where the first clamping plate 443 and the second clamping plate 445 are located are perpendicular to each other. The first clamping plate 443 and the second clamping plate 445 are integrally formed. Among them, the plane where the second clamping plate 445 is located is parallel to the plane where the third adapter plate body 441 is located. The second clamping plate 445 is fixedly connected to the third adapter plate 434. In this embodiment, the first clamping plate 443 and the second clamping plate 445 are integrally formed to strengthen the structural strength of the clamping member 442, thereby improving the structural strength of the adapter assembly 433.

[0129] In some embodiments, in combination Fig.12 As shown, there are two adapters 438, which are respectively arranged at opposite ends of the adapter plate 434 along the length direction of the adapter plate 434. There are two clamping members 442, which are arranged one-to-one with the two adapters 438. The first clamping plates 443 on the two clamping members 442 are both connected to the driving mechanism 402.

[0130] In some embodiments, in combination Figure 5 and Fig. 9 As shown, the driving mechanism 402 includes a front axle assembly 403 and a rear axle assembly 406. The front axle assembly 403 and the rear axle assembly 406 include a second transmission member 405 and a first transmission member 408, respectively. There are two steering bearings 449, and the two steering bearings 449 are arranged at intervals at the bottom of the box body 101. There are two adapter assemblies 433, and the two adapter assemblies 433 are arranged in a one-to-one correspondence with the two steering bearings 449. The two adapter assemblies 433 are respectively connected to the second transmission member 405 and the first transmission member 408, so as to realize that the two adapter assemblies 433 are respectively connected to the front axle assembly 403 and the rear axle assembly 406, so as to realize that the adapter mechanism 432 connects the bottom of the box body 101 with the driving mechanism 402.

[0131] In some embodiments, in combination Figure 5 and Fig. 9 As shown, the first transmission member 408 also includes a rotating sleeve 409, which is sleeved on the transmission shaft. A first clamping plate 443 is provided with a clamping groove 444 at the end close to the driving mechanism 402. The rotating sleeve 409 is clamped with the clamping groove 444. In this embodiment, the connection setting of the adapter assembly 433 and the first transmission member 408 is realized by clamping the rotating sleeve 409 with the clamping groove 444. For the connection setting of the adapter assembly 433 and the second transmission member 405, reference can be made to the connection setting of the adapter assembly 433 and the first transmission member 408, which will not be repeated here.

[0132] Optionally, combined Figure 5, Fig. 9 and Fig.13 As shown, the switching mechanism 432 further includes a first reinforcement member 446. The first reinforcement member 446 is disposed at the bottom of the box body 101 along the height direction of the box body 101. The steering bearing 449 is disposed on the first reinforcement member 446 and is fixedly connected or rotatably connected to the first reinforcement member 446.

[0133] In this embodiment, a first reinforcement member 446 is further introduced to connect the bottom of the box 101 and the steering bearing 449 to increase the connection strength between the steering bearing 449 and the bottom of the box 101 and improve the structural stability of the inspection robot 10.

[0134] Optionally, combined Fig.13 As shown, the first reinforcement member 446 includes a reinforcement plate body 447. A wing portion 448 extending outward is formed at the circumferential edge of the reinforcement plate body 447. The number of the wing portions 448 is four, and the four wing portions 448 are evenly spaced along the circumference of the reinforcement plate body 447. In this embodiment, by forming four evenly spaced wings 448 extending outward at the circumferential edge of the reinforcement plate body 447, the first reinforcement member 446 can more effectively disperse the stress from the concentration point to a larger area, reduce the risk of stress concentration, and enhance the connection strength between the bottom of the box body 101 and the steering bearing 449.

[0135] Optionally, combined Figures 1 to 7 As shown, the inspection robot 10 further includes a driving chassis 600. The driving chassis 600 is disposed at the bottom of the box body 101 along the height direction of the box body 101. The motion mechanism 400 is disposed on the driving chassis 600. In this embodiment, the driving chassis 600 is used to carry the motion mechanism 400 to realize the movement and inspection tasks of the inspection robot 10 in different environments.

[0136] In a specific application, the number of steering bearings 449 is two, and along the forward direction of the inspection robot 10, the two steering bearings 449 are spaced apart on the driving chassis 600. The number of adapter assemblies 433 is two, and the two adapter assemblies 433 are arranged in a one-to-one correspondence with the two steering bearings 449. The two adapter assemblies 433 are respectively connected to the second transmission member 405 and the first transmission member 408, so as to realize that the two adapter assemblies 433 are respectively connected to the front axle assembly 403 and the rear axle assembly 406. Among them, along the forward direction of the inspection robot 10, the rear axle assembly 406 is located behind the front axle assembly 403. The rear axle assembly 406 is used to drive the inspection robot 10, and the parking mechanism 418 is arranged on the driving chassis 600 and the output end is connected to the front axle assembly 403. The second controller 430 is arranged on the driving chassis 600 and the signal output end of the second controller 430 is connected to the rear axle assembly 406 for communication. The third controller 423 is disposed on the driving chassis 600 and is in communication connection with the first controller 401 and the electric tensioning member 420 of the parking mechanism 418 .

[0137] Optionally, combined Fig.14 As shown, the driving chassis 600 includes a chassis bracket 601 and a cleaning mechanism 610. The chassis bracket 601 is arranged at the bottom of the box body 101 along the height direction of the box body 101, and the chassis bracket 601 includes a front end 626 and a rear end 627 that are arranged opposite to each other. The motion mechanism 400 is arranged on the chassis bracket 601 and is located between the front end 626 and the rear end 627. The cleaning mechanism 610 is respectively arranged at the front end 626 and the rear end 627 of the chassis bracket 601, and is used to clean the ground or the track 424 in the moving direction of the inspection robot 10.

[0138] In this embodiment, the moving direction of the inspection robot 10 includes the forward direction and the backward direction of the inspection robot 10. The direction from the front end 626 to the rear end 627 is the same as the forward direction of the inspection robot 10. The chassis bracket 601 is used to carry the motion mechanism 400 and the cleaning mechanism 610. Among them, the cleaning mechanism 610 cleaning mechanism 610 is respectively arranged at the front end 626 and the rear end 627 of the chassis bracket 601, so as to clean the ground in the moving direction of the inspection robot 10, thereby ensuring that the inspection robot 10 will not be affected by ground debris, dust, etc. during movement, thereby improving the accuracy, safety and stability of the inspection. In addition, using the cleaning mechanism 610 to clean the ground debris and dust can reduce the wear or damage caused by the ground debris and dust to the motion mechanism 400 and other components, thereby extending the service life of the inspection robot 10.

[0139] Optionally, combined Fig.14As shown, the cleaning mechanism 610 includes a connecting assembly 611 and a first cleaning member 617. One end of the connecting assembly 611 is connected to the chassis bracket 601. The first cleaning member 617 is connected to the other end of the connecting assembly 611.

[0140] In this embodiment, the first cleaning member 617 is used to clean the ground, and the connecting assembly 611 is used to connect the chassis bracket 601 and the connecting assembly 611. The chassis bracket 601 and the connecting assembly 611 are connected by the connecting assembly 611, so that when the motion mechanism 400 drives the chassis 600 bracket to move relative to the ground and then drives the inspection robot 10 to move, the first cleaning member 617 can clean the ground in the moving direction of the inspection robot 10.

[0141] Optionally, combined Fig.14 As shown, the connection assembly 611 includes a telescopic assembly 612. The fixed end of the telescopic assembly 612 is connected to the chassis bracket 601, and the telescopic end of the telescopic assembly 612 is connected to the first cleaning member 617. The telescopic assembly 612 can be telescoped in a direction perpendicular to the forward direction of the inspection robot 10 to drive the first cleaning member 617 to move in a direction perpendicular to the forward direction of the inspection robot 10.

[0142] In this embodiment, the fixed end of the telescopic component 612 refers to the portion of the telescopic component 612 that remains fixed. When the telescopic component 612 is working, the fixed end serves as a reference point or anchor point to provide stable support and positioning. The telescopic end of the telescopic component 612 refers to the portion of the telescopic component 612 that can move relative to the fixed end. Through the telescopic action, the telescopic end can move away from or close to the fixed end, thereby adjusting the length or position of the entire telescopic component 612. In this embodiment, the telescopic component 612 can be telescoped in a direction perpendicular to the forward direction of the inspection robot 10 to drive the first cleaning member 617 to move in a direction perpendicular to the moving direction of the inspection robot 10, so that the cleaning mechanism 610 can adjust the height of the first cleaning member 617 as needed, so as to adapt to a wider and more complex environment and improve the flexibility and reliability of the inspection robot 10.

[0143] Optionally, the telescopic assembly 612 includes a telescopic motor (not shown). The telescopic motor is disposed on the chassis bracket 601, and the output end of the telescopic motor is connected to the first cleaning member 617. The output end of the telescopic motor refers to the part of the telescopic motor that is responsible for transmitting power or motion. In this embodiment, the telescopic assembly 612 is formed by providing a telescopic motor so as to realize automatic height or position adjustment of the first cleaning member 617, thereby improving the degree of automation of the inspection robot 10.

[0144] Optionally, the telescopic assembly 612 includes a spring (not shown in the figure). One end of the spring is connected to the chassis bracket 601, and the other end of the spring is connected to the first cleaning member 617. In this embodiment, the telescopic assembly 612 is formed by setting the spring so that the first cleaning member 617 can achieve passive telescopic movement under the action of stress, so that the cleaning mechanism 610 can adapt to different road environments, thereby improving the flexibility and reliability of the inspection robot 10.

[0145] Optionally, combined Fig.14 As shown, the telescopic assembly 612 includes a mounting tube 613 and a connecting tube 615. One end of the mounting tube 613 is connected to the chassis bracket 601. One end of the connecting tube 615 is slidably connected to the other end of the mounting tube 613, and the other end of the connecting tube 615 is connected to the first cleaning member 617. The connecting tube 615 can slide relative to the mounting tube 613 along the length direction of the mounting tube 613.

[0146] In this embodiment, by sliding the connecting tube 615 relative to the mounting tube 613 along the length direction of the mounting tube 613, the telescopic assembly 612 is telescoped in a direction perpendicular to the forward direction of the inspection robot 10, thereby enabling the first cleaning member 617 to move in a direction perpendicular to the moving direction of the inspection robot 10.

[0147] Optionally, combined Fig.14 As shown, the mounting tube 613 is sleeved on the connecting tube 615. The mounting tube 613 includes a sliding groove 614, which is extended along the length direction of the mounting tube 613 and is respectively located on two opposite sides of the mounting tube 613. The telescopic assembly 612 also includes a sliding member 616, which passes through one end of the connecting tube 615 close to the mounting tube 613 and is slidably connected to the sliding groove 614.

[0148] In this embodiment, the sliding groove 614 is extended along the length direction of the mounting tube 613 and is respectively located on opposite sides of the mounting tube 613 to form a stable guiding structure. The connecting tube 615 is a moving part of the telescopic assembly 612, and a sliding member 616 matching the sliding groove 614 is designed at one end close to the mounting tube 613. The sliding member 616 runs through the end of the connecting tube 615 close to the mounting tube 613 and is slidably connected with the sliding groove 614, so that the connecting tube 615 can slide smoothly and accurately in the mounting tube 613 along the direction of the sliding groove 614, thereby realizing the telescopic function of the telescopic assembly 612. In this embodiment, the sliding groove 614 and the sliding member 616 make the sliding of the connecting tube 615 in the mounting tube 613 more stable, reducing the risk of poor telescopic or damage caused by shaking or offset. At the same time, the guiding effect of the sliding groove 614 enables the connecting tube 615 to slide in a predetermined direction, ensuring the telescopic accuracy and reliability of the telescopic assembly 612.

[0149] Optionally, combined Fig.14 As shown, the first cleaning member 617 includes a first connecting member 618 and bristles 622. The first connecting member 618 is connected to an end of the connecting assembly 611 away from the chassis bracket 601. The bristles 622 are arranged on the first connecting member 618.

[0150] In this embodiment, the first connecting member 618 is connected to the end of the connecting assembly 611 away from the chassis bracket 601 to ensure that the first cleaning member 617 can remain stable during the movement of the inspection robot 10 and will not affect the cleaning effect due to shaking or bumping. The bristles 622 are used to remove dirt and debris on the ground. Through the first connecting member 618 and the bristles 622, the first cleaning member 617 cleans the ground in the moving direction of the inspection robot 10.

[0151] In some embodiments, the bristles 622 are made of nylon or polyester fibers. In this embodiment, the bristles 622 made of nylon or polyester fibers are used to ensure that the bristles 622 have good cleaning performance and durability.

[0152] Optionally, combined Fig.14 and Fig.15 As shown, the first connecting member 618 includes a connecting cavity 619 and a cleaning port 620, and the cleaning port 620 is located on a side of the first connecting member 618 away from the connecting assembly 611 and is connected to the connecting cavity 619. The first cleaning member 617 also includes a plug connector 623. The plug connector 623 is disposed in the connecting cavity 619. Part of the bristles 622 penetrates the cleaning port 620 and is connected to the plug connector 623, and the part of the bristles 622 protruding from the cleaning port 620 is used to clean the floor.

[0153] In this embodiment, the connector 623 is arranged in the connecting cavity 619, and some bristles 622 pass through the cleaning port 620 and are connected to the connector 623, so that the bristles 622 are arranged on the first connecting member 618, and some bristles 622 protrude from the cleaning port 620, ensuring that the bristles 622 can directly contact the ground, thereby effectively cleaning.

[0154] Optionally, combined Fig.14 and Fig.15 As shown, a mounting opening 621 is further provided on one side of the first connecting member 618 adjacent to the cleaning opening 620. The mounting opening 621 is connected to the cleaning opening 620 and the connecting cavity 619. The first cleaning member 617 further includes a fixing member 624. The fixing member 624 is provided at an end of the first connecting member 618 close to the mounting opening 621. When the plug connector 623 is provided in the connecting cavity 619, the fixing member 624 abuts against the plug connector 623.

[0155] In this embodiment, a mounting opening 621 is provided on one side of the first connector 618 adjacent to the cleaning opening 620. The mounting opening 621, the cleaning opening 620 and the connecting cavity 619 are interconnected to form a mounting passage, so that a technician can install a plug-in connector 623 provided with bristles 622 in the connecting cavity 619 from the mounting opening 621, and make part of the bristles 622 protrude from the cleaning opening 620, so as to install the plug-in connector 623 and thus install the bristles 622. When the plug-in connector 623 is arranged in the connecting cavity 619, the fixing member 624 abuts against the plug-in connector 623 to fix the plug-in connector 623, thereby fixing the plug-in connector 623. In this embodiment, the mounting opening 621 and the fixing member 624 are provided to facilitate replacement of the bristles 622 when necessary.

[0156] In some embodiments, the motion mechanism 400 includes a front axle assembly 403 , and the cleaning mechanism 610 is located in front of the front axle assembly 403 along the forward direction of the inspection robot 10 .

[0157] In some embodiments, in combination Fig.14 As shown, the front axle assembly 403 includes a walking wheel 410, and the cleaning mechanism 610 is located in front of the walking wheel 410 along the forward direction of the inspection robot 10. Among them, the connecting component 611 is located in front of the walking wheel 410 along the forward direction of the inspection robot 10, so that the first cleaning member 617 is located in front of the walking wheel 410 to clean the ground in the moving direction of the walking wheel 410.

[0158] In some embodiments, in combination Fig.14 As shown, the number of the running wheels 410 in the front axle assembly 403 is two, the number of the cleaning mechanisms 610 is two, and the two running wheels 410 and the two cleaning mechanisms 610 are arranged in a one-to-one correspondence. In this embodiment, the number of the connecting components 611 is two, and the two connecting components 611 are arranged in a one-to-one correspondence with the two running wheels 410, and the number of the first cleaning members 617 is two, and the two first cleaning members 617 are arranged in a one-to-one correspondence with the two connecting components 611.

[0159] In some embodiments, in combination Fig.14 As shown, the motion mechanism 400 includes a rear axle assembly 406 , and the cleaning mechanism 610 is located behind the rear axle assembly 406 along the forward direction of the inspection robot 10 .

[0160] In some embodiments, in combination Fig.14As shown, the rear axle assembly 406 includes a walking wheel 410, and the cleaning mechanism 610 is located behind the walking wheel 410 along the forward direction of the inspection robot 10. The connecting component 611 is located behind the walking wheel 410 along the forward direction of the inspection robot 10, so that the first cleaning member 617 is located behind the walking wheel 410 to clean the ground where the walking wheel 410 walks, or when the inspection robot 10 moves backward, clean the ground in the moving direction of the walking wheel 410.

[0161] In some embodiments, in combination Fig.14 As shown, there are two running wheels 410 in the rear axle assembly 406, and there are two cleaning mechanisms 610, and the two running wheels 410 and the two cleaning mechanisms 610 are arranged in a one-to-one correspondence. In this embodiment, there are two connecting components 611, and the two connecting components 611 are arranged in a one-to-one correspondence with the two running wheels 410, and there are two first cleaning members 617, and the two first cleaning members 617 are arranged in a one-to-one correspondence with the two connecting components 611.

[0162] In a specific application, combined with Fig.14 As shown, the motion mechanism 400 includes a front axle assembly 403 and a rear axle assembly 406. The front axle assembly 403 and the rear axle assembly 406 each include two running wheels 410. There are four cleaning mechanisms 610. Two cleaning mechanisms 610 are respectively located in front of the two running wheels 410 in the front axle assembly 403 along the forward direction of the inspection robot 10, and the other two cleaning mechanisms 610 are respectively located behind the two running wheels 410 in the rear axle assembly 406 along the forward direction of the inspection robot 10.

[0163] Optionally, combined Figure 3 , Fig.14 and Fig.18 As shown, when the driving mechanism 402 includes the running wheel 410 , the driving chassis 600 further includes a second cleaning member 625 . The second cleaning member 625 is disposed on the chassis bracket 601 and abuts against the running wheel 410 .

[0164] In this embodiment, a second cleaning member 625 is further introduced. The second cleaning member 625 is arranged on the chassis bracket 601 and abuts against the walking wheel 410, so that when the walking wheel 410 rolls, the walking wheel 410 will generate friction with the second cleaning member 625, thereby utilizing the generated friction force to clean dirt or debris that may be attached to the surface of the walking wheel 410, thereby automatically cleaning the dirt on the surface of the walking wheel 410, further improving the driving effect of the driving chassis 600, avoiding the problem of poor movement or damage caused by dirty walking wheel 410, improving the movement efficiency of the chassis, and extending the service life of the walking wheel 410.

[0165] In some embodiments, the specific structure of the second cleaning member 625 is the same as that of the first cleaning member 617 . For the specific structure of the second cleaning member 625 , refer to the first cleaning member 617 , which will not be described again.

[0166] In some embodiments, in combination Figure 3 , Fig.14 and Fig.18 As shown, the number of the running wheels 410 is 4, and the number of the second cleaning members 625 is 4. The four running wheels 410 and the four second cleaning members 625 are arranged in a one-to-one correspondence.

[0167] Optionally, combined Figures 1 to 8 As shown, the sensing mechanism 500 includes an anti-collision magnetic induction strip 501. The anti-collision magnetic induction strip 501 is respectively arranged at the front end 626 and the rear end 627 of the chassis bracket 601, and extends along the width direction of the chassis bracket 601. The anti-collision magnetic induction strip 501 is connected to the motion mechanism 400 for communication.

[0168] The anti-collision magnetic induction strip 501 is a device designed to prevent or reduce the occurrence of collision accidents. The anti-collision magnetic induction strip 501 is designed based on the principle that the like poles of a magnet repel each other. The anti-collision magnetic induction strip 501 uses magnetic repulsion to generate a certain resistance or warning signal when a vehicle or object approaches, thereby avoiding collision. In this embodiment, by setting the anti-collision magnetic induction strip 501 at the opposite ends of the chassis bracket 601 along the forward direction of the inspection robot 10, it is ensured that the inspection robot 10 can effectively sense obstacles in the forward direction during movement, reduce the risk of damage or failure of the inspection robot 10 caused by collision during the inspection process, thereby improving the safety and reliability of the inspection robot 10. In addition, the anti-collision magnetic induction strip 501 is connected to the motion mechanism 400 in communication, so that when the anti-collision magnetic induction strip 501 detects an obstacle, it can send a signal to the motion mechanism 400 in time, and after receiving the signal, the motion mechanism 400 can take corresponding obstacle avoidance measures in time, such as slowing down, turning or stopping.

[0169] Optionally, combined Figure 4 and Fig.14 As shown, the sensing mechanism 500 includes a positioning switch 502. The positioning switch 502 is disposed on the chassis bracket 601. In some embodiments, the positioning switch 502 is in communication connection with the communication mechanism 300 and / or the industrial computer 200.

[0170] In this embodiment, the sensing mechanism 500 includes a positioning switch 502, and the positioning switch 502 is in communication connection with the communication mechanism 300 and / or the industrial computer 200. The positioning switch 502 is used to assist other components in determining the position information of the inspection robot 10, such as cooperating with the communication mechanism 300 to determine the position coordinates of the inspection robot 10 in the current inspection area, thereby providing an accurate position reference for subsequent inspection tasks, so that the inspection robot 10 can complete the task more efficiently.

[0171] Optionally, combined Figure 4 and Fig.14 As shown, the positioning switch 502 includes a positioning member 503 and a proximity switch 510. The positioning members 503 are spaced apart on the moving route of the inspection robot 10. The proximity switch 510 is disposed on the chassis bracket 601, and the proximity switch 510 can generate docking information after docking with the positioning member 503.

[0172] In this embodiment, the positioning members 503 are spaced apart on the moving route of the inspection robot 10 to provide a reference for the position information of the inspection robot 10. The proximity switch 510 is disposed on the chassis bracket 601. When the proximity switch 510 is docked with the positioning member 503, the proximity switch 510 can sense the existence of the positioning member 503 and generate corresponding docking information to determine that the inspection robot 10 has reached the position of the positioning member 503. The generated docking information helps the inspection robot 10 determine its current position. In this embodiment, the combination of the positioning member 503 and the proximity switch 510 can achieve high-precision positioning of the inspection robot 10.

[0173] In some embodiments, the positioning member 503 includes a positioning plate body (not shown in the figure) and a positioning flange (not shown in the figure). The positioning flange is located at opposite ends of the positioning plate body. The positioning member 503 is installed in the moving route of the inspection robot 10 through the positioning flange. When the proximity switch 510 is docked with the positioning plate body, the proximity switch 510 generates corresponding docking information. In this embodiment, the positioning plate body includes a positioning surface (not shown in the figure) and a groove surface (not shown in the figure) that are relatively arranged. The positioning flange includes a third extension flange (not shown in the figure) and a fourth extension flange (not shown in the figure). Extending from the positioning surface toward the groove surface, a third extension flange is formed on the groove surface side at opposite ends of the positioning plate body. At the end of the third extension flange away from the positioning plate body, a fourth extension flange is formed extending from the end of the third extension flange toward the direction away from the positioning plate body along the length direction of the positioning plate body. The positioning member 503 is installed in the moving route of the inspection robot 10 through the fourth extension flange. When the proximity switch 510 is docked with the positioning surface, the proximity switch 510 generates corresponding docking information. In this embodiment, the positioning plate body and the positioning flange are integrally formed to enhance the structural strength and reliability of the positioning member 503 .

[0174] In some embodiments, a marker is attached to the positioning surface, such as a QR code, an RFID (Radio Frequency Identification) tag, etc. The proximity switch 510 includes an encoder, which is disposed on the chassis bracket 601. The encoder can successfully identify the marker attached to the positioning surface when the proximity switch 510 is docked with the positioning member 503, so as to generate docking information and determine that the inspection robot 10 has reached the position of the positioning member 503. When the position coordinates of the positioning member 503 in the inspection area are recorded in the marker, the position coordinates of the positioning member 503 can also be obtained as the current position of the inspection robot 10.

[0175] Optionally, combined Figure 5 and Fig.14 As shown, the proximity switch 510 includes an electromagnetic switch 511 and / or a photoelectric switch 512. The electromagnetic switch 511 and / or the photoelectric switch 512 are disposed on the chassis bracket 601.

[0176] In some embodiments, the material of the positioning member 503 is metal, such as stainless steel, aluminum alloy, nickel titanium alloy, titanium, etc. The proximity switch 510 includes an electromagnetic switch 511, and the electromagnetic switch 511 is disposed on the chassis bracket 601. In this embodiment, when the electromagnetic switch 511 detects a metal object (such as the positioning member 503), it will cause a change in the magnetic field to trigger the switch action, determine that the proximity switch 510 is successfully docked with the positioning member 503, and generate docking information to feedback that the inspection robot 10 is successfully docked with the positioning member 503. In a specific application, the positioning member 503 can be set at a preset target position, such as: the surrounding side of the charging base station, when the proximity switch 510 successfully docks with the positioning member 503, after receiving the docking information, it is determined that the inspection robot 10 has arrived at the charging base station; the surrounding side of the industrial equipment to be inspected, when the proximity switch 510 successfully docks with the positioning member 503, after receiving the docking information, it is determined that the inspection robot 10 has arrived at the location of the industrial equipment to be inspected; the positioning member 503 is set at a preset distance interval along the preset inspection route, the initial position of the inspection robot 10 is obtained, and then the position of the inspection robot 10 in the preset inspection route is determined in combination with the number of docking information received. In this embodiment, the electromagnetic switch 511 and the positioning member 503 made of metal material are combined, so that the positioning switch 502 has the characteristics of simple structure, high reliability, strong adaptability, etc.

[0177] In some embodiments, in combination Figure 5 and Fig.14As shown, the proximity switch 510 includes a photoelectric switch 512. The photoelectric switch 512 uses the emission and reception of light to detect the presence of an object. When the light is blocked by an object (such as the positioning member 503), the photoelectric switch 512 triggers a corresponding action, such as generating docking information. The positioning switch 502 combined with the photoelectric switch 512 and the positioning member 503 has the advantages of high sensitivity, fast response speed, and long detection distance.

[0178] In some embodiments, the material of the positioning member 503 is metal. The proximity switch 510 includes an electromagnetic switch 511 and a photoelectric switch 512, and the electromagnetic switch 511 and the photoelectric switch 512 are both arranged on the chassis bracket 601. In this embodiment, the electromagnetic switch 511 and the photoelectric switch 512 are arranged in combination, and are used to detect the positioning member 503 at the same time, thereby improving the environmental adaptability of the inspection robot 10. For example, in a scene with dense metal environment, the electromagnetic switch 511 is used to detect the position information of the inspection robot 10; and in a scene where non-metallic objects need to be detected or higher sensitivity is required, the photoelectric switch 512 is used to detect the position information of the inspection robot 10; in the case where one of the electromagnetic switch 511 and the photoelectric switch 512 is damaged, the other is used to detect the position information of the inspection robot 10. In addition, the electromagnetic switch 511 and the photoelectric switch 512 are integrated and used to detect the positioning member 503 at the same time. By verifying the detection results of the electromagnetic switch 511 and the photoelectric switch 512, the detection accuracy of the inspection robot 10 can be improved.

[0179] Optionally, combined Figure 5 and Fig.14 As shown, the chassis bracket 601 includes a connecting seat 602. The proximity switch 510 is disposed on the connecting seat 602. In this embodiment, by disposing the proximity switch 510 on the connecting seat 602, it is ensured that the proximity switch 510 can be stably mounted on the chassis bracket 601, thereby improving the structural stability of the inspection robot 10. In addition, by adding the connecting seat 602 for mounting the proximity switch 510, the distance between the proximity switch 510 and the positioning member 503 is reduced when the proximity switch 510 is close to the positioning member 503, thereby improving the detection accuracy and reliability of the positioning switch 502.

[0180] In some embodiments, in combination Figure 5 and Fig.14 As shown, the proximity switch 510 includes an electromagnetic switch 511 and / or a photoelectric switch 512. The electromagnetic switch 511 and / or the photoelectric switch 512 are disposed on the connection seat 602.

[0181] Optionally, the connecting base 602 includes a third plate body (not shown in the figure) and a fourth plate body (not shown in the figure). One end of the third plate body is connected to the chassis bracket 601. The fourth plate body is connected to the other end of the third plate body. The planes where the third plate body and the fourth plate body are located are perpendicular to each other. The proximity switch 510 is arranged on the fourth plate body. In this embodiment, the connecting base 602 is formed by the third plate body and the fourth plate body, so that the proximity switch 510 can be stably installed on the connecting base 602, so that the proximity switch 510 can be stably installed on the chassis bracket 601.

[0182] Optionally, there are multiple third plates, one end of each of which is connected to the chassis bracket 601, and the other end of each of which is connected to the fourth plate. In this embodiment, the connection stability of the connection base 602 is improved by increasing the number of third plates.

[0183] Optionally, the third plate body is provided with a weight-reducing hole 604. In this embodiment, the weight-reducing hole 604 is provided on the third plate body to reduce the weight of the connecting seat 602, thereby reducing the weight of the inspection robot 10 and reducing energy consumption.

[0184] Optionally, the fourth plate body includes a second mounting portion (not shown in the figure) and a third mounting portion (not shown in the figure) 609 that are connected. One end of the third plate body away from the chassis bracket 601 is connected to the second mounting portion. The proximity switch 510 includes an electromagnetic switch 511 and a photoelectric switch 512. The electromagnetic switch 511 is arranged on a side of the second mounting portion away from the third plate body. The photoelectric switch 512 is arranged on the third mounting portion. In this embodiment, the fourth plate body includes a third mounting surface (not shown in the figure) and a third connecting surface (not shown in the figure) that are arranged opposite to each other. One end of the third plate body away from the chassis bracket 601 is connected to the third connecting surface. The electromagnetic switch 511 is arranged on the third mounting surface. Extending from the third mounting surface toward the third connecting surface, a flange is formed at the end of the second mounting portion to form a third mounting portion. In this embodiment, the second mounting portion and the third mounting portion are integrally formed to enhance the structural strength of the fourth plate body, thereby enhancing the structural stability of the connecting seat 602.

[0185] Optionally, combined Fig.16 and Fig.18As shown, the box assembly 100 includes a box 101, a sealing plate 110, a movable plate 125 and a sealing strip 129. The box 101 also includes a first opening 103 and a second opening 104 that are connected to the installation cavity 102. The sealing plate 110 is arranged on the box 101 at the first opening 103. The movable plate 125 is movably arranged on the box 101, and is used to open or close the second opening 104. The sealing strip 129 is respectively arranged between the box 101 and the sealing plate 110, and between the box 101 and the movable plate 125, and is arranged along the circumference of the opening. Among them, when the movable plate 125 closes the second opening 104, the sealing strip 129 arranged on the movable plate 125 abuts against the box 101.

[0186] In this embodiment, an installation cavity 102 is provided inside the box 101 for accommodating and fixing various components, such as the industrial computer 200 and the first controller 401 in the above embodiment. The first opening 103 is connected to the installation cavity 102, so that the technician can install the components in the installation cavity 102 through the first opening 103. The sealing plate 110 is provided at the first opening 103 of the box 101, and is used to seal the first opening 103 after the technician installs the components in the installation cavity 102 through the first opening 103, so as to prevent external liquid, gas or solid particles from entering from the first opening 103, and ensure that the components in the box 101 are in a good working environment. The movable plate 125 is used to open or close the second opening 104, so that the technician or user can easily access the components in the box 101 to perform operations such as component maintenance or replacement. The sealing strip 129 is respectively arranged between the box body 101 and the sealing plate 110 and between the box body 101 and the movable plate 125 along the circumference of the opening. When the movable plate 125 closes the second opening 104, the sealing strip 129 arranged on the movable plate 125 is in close contact with the box body 101 to form a reliable sealing barrier to enhance the sealing effect and further prevent foreign substances from entering the box body 101 through the first opening 103 or the second opening 104. In this embodiment, by providing the sealing plate 110 and the sealing strip 129, it is ensured that the components in the box body 101 are in a good sealing environment, so that the inspection robot 10 can cope with various climate conditions such as rain and snow, and ensure stable operation under complex environmental conditions.

[0187] Optionally, the box body 101 is integrally formed. In this embodiment, the box body 101 is integrally formed, which further ensures the firmness and sealing of the box body assembly 100, so that the inspection robot 10 can cope with various climatic conditions such as rain and snow, and ensures stable operation under complex environmental conditions.

[0188] Optionally, combined Fig.16 and Fig.18As shown, along the height direction of the box body 101 , the first opening 103 is located at the top of the box body 101 . The second opening 104 is located at a side surface adjacent to the top of the box body 101 .

[0189] In this embodiment, the first opening 103 is located at the top of the box 101, so that the technicians can install the components of the inspection robot 10 through the first opening 103. The second opening 104 is located on a side adjacent to the top of the box 101, so as to avoid the second opening 104 facing the top of the box 101, and to avoid excessive external liquid, gas or solid particles from entering the installation cavity 102 from the second opening 104 when the movable plate 125 opens the second opening 104.

[0190] Optionally, combined Fig.18 and Fig.19 As shown, the box assembly 100 further includes a support frame 130. The support frame 130 is disposed on the box 101 and located in the installation cavity 102. In this embodiment, the support frame 130 is disposed in the installation cavity 102 to support the box 101, thereby enhancing the stability and load-bearing capacity of the box assembly 100, and optimizing the component layout and space utilization of the installation cavity 102.

[0191] Optionally, the shape of the support frame 130 is adapted to the installation cavity 102. Exemplarily, the support frame 130 is a rectangular parallelepiped structural frame adapted to the installation cavity 102.

[0192] In some embodiments, in combination Fig.18 and Fig.19 As shown, the support frame 130 is composed of a plurality of second support rods 131. The plurality of second support rods 131 are fixedly connected to form the support frame 130. In this embodiment, the plurality of second support rods 131 can be connected by welding, bolts, etc. to form a whole, namely the support frame 130.

[0193] In some embodiments, the second support rod 131 is in the shape of a rectangular parallelepiped bar.

[0194] In some embodiments, the second support rod 131 is hollow inside and presents a hollow tubular structure. In this embodiment, by designing the second support rod 131 as a hollow tubular structure, the second support rod 131 reduces the weight of the inspection robot 10 while maintaining its strength, thereby reducing the energy consumption of the inspection robot 10 during operation.

[0195] Optionally, combined Fig.19 and Fig. 20As shown, the box assembly 100 further includes a first mounting assembly 132. The first mounting assembly 132 is disposed on the support frame 130. The industrial computer 200 and the communication mechanism 300 are disposed on the first mounting assembly 132. In this embodiment, by adding the first mounting assembly 132 to mount components such as the industrial computer 200 and the communication mechanism 300, the stability and reliability of the components such as the industrial computer 200 and the communication mechanism 300 during operation are ensured, and the component layout and space utilization of the mounting cavity 102 are optimized.

[0196] Optionally, combined Fig.19 and Fig. 20 As shown, the first mounting assembly 132 includes a first supporting assembly 133 and a mounting plate 157. The first supporting assembly 133 is arranged on the supporting frame 130. The mounting plate 157 is arranged on the first supporting assembly 133. Among them, the industrial computer 200 and the communication mechanism 300 are arranged on the mounting plate 157. In this embodiment, the mounting plate 157 is used to fix components such as the industrial computer 200 and the communication mechanism 300, to ensure the stability and reliability of the components such as the industrial computer 200 and the communication mechanism 300 during operation, and to optimize the component layout and space utilization of the mounting cavity 102. The first supporting assembly 133 is used to support the mounting plate 157 to ensure the stability and reliability of the first mounting assembly 132 and the inspection robot 10.

[0197] Optionally, combined Fig.19 and Fig. 20 As shown, the first support assembly 133 includes a first support member 134. The first support member 134 is disposed on the support frame 130, and the mounting plate 157 is disposed on the support member 134. In this embodiment, the first support member 134 is used to achieve stable installation of the mounting plate 157, thereby ensuring the stability and reliability of the first mounting assembly 132 and the inspection robot 10.

[0198] Optionally, combined Fig.19 and Fig. 20 As shown, the first support member 134 includes a first support rod 135 and / or a second connecting member 143 .

[0199] In some embodiments, in combination Fig.19 and Fig. 20 As shown, the first support member 134 includes a first support rod 135. The opposite ends of the first support rod 135 are fixedly connected to the support frame 130. The mounting plate 157 is disposed on the first support rod 135. In this embodiment, the connection setting of the mounting plate 157 is realized by the first support rod 135, ensuring the stability and reliability of the first mounting assembly 132 and the inspection robot 10.

[0200] In some embodiments, the specific structure of the first support rod 135 can refer to the second support rod 131 in the above embodiment, and will not be repeated here.

[0201] In some embodiments, the first support rod 135 includes a second support portion (not shown in the figure) and an extension portion (not shown in the figure). When the mounting plate 157 is arranged on the first support rod 135, the second support portion abuts against the mounting plate 157. The extension portion is connected to the second support portion, and a preset angle is formed between the plane where the extension portion is located and the plane where the second support portion is located. Exemplarily, the value of the preset angle is 90°.

[0202] In this embodiment, the second support portion abuts against the mounting plate 157 to provide stable support for the mounting plate 157. The extension portion is connected to the second support portion, and a preset angle is formed between the plane where the extension portion is located and the plane where the second support portion is located, so that the first support rod 135 can more flexibly adapt to different installation requirements while providing stable support. Exemplarily, the preset angle is 90°, that is, the plane where the extension portion is located is perpendicular to the plane where the second support portion is located. This design enables the first support rod 135 to form an "L"-shaped structure, providing support for the mounting plate 157 in both horizontal and vertical directions.

[0203] Optionally, the second support portion includes an abutting surface (not shown in the figure) abutting against the mounting plate 157 and a fixing surface (not shown in the figure) arranged opposite to the abutting surface. Extending from the abutting surface toward the fixing surface, a first flange (not shown in the figure) is formed on the fixing surface side to form an extension portion. In this embodiment, the second support portion and the extension portion are integrally formed to enhance the structural strength of the first support rod 135, thereby improving the structural stability and reliability of the first mounting assembly 132 and the box assembly 100.

[0204] Optionally, the second support portion further includes communication holes 139 arranged at intervals. The communication holes 139 penetrate the abutment surface and the fixing surface, and are used to fix and connect the mounting plate 157. In this embodiment, a mounting hole 158 corresponding to the communication hole 139 is provided on the mounting plate 157. When the mounting plate 157 is arranged on the first support rod 135, the mounting hole 158 is connected with the communication hole 139, so that bolts, screws or other fasteners can penetrate the communication hole 139 and the mounting hole 158, so as to realize a firm connection between the second support portion and the mounting plate 157, and realize a stable installation of the mounting plate 157.

[0205] Optionally, a protrusion 140 is formed on the fixing surface along the circumference of the connecting hole 139, extending from the abutting surface toward the fixing surface. In this embodiment, by forming the protrusion 140 on the fixing surface along the circumference of the connecting hole 139, support and protection around the connecting hole 139 are ensured, the stability and durability of the connection point are increased, and the connection strength between the second support portion and the mounting plate 157 is enhanced, so that the first mounting assembly 132 can withstand greater loads and stresses, and the stability and safety of the box assembly 100 are improved.

[0206] Optionally, the number of the extensions is two, and the two extensions are located on opposite sides of the second support portion. In this embodiment, the two extensions are located on opposite sides of the second support portion, forming a stable support structure, so that the second support portion can maintain balance when subjected to force, reducing the safety risks caused by structural instability, and improving the stability of the first support rod 135. Due to the enhanced support effect of the two extensions, the second support portion can withstand a larger load, thereby enhancing the bearing capacity of the first support rod 135.

[0207] In some embodiments, the first support member 134 includes a second connecting member 143. The second connecting member 143 is spaced apart from the support frame 130 and connected to the mounting plate 157. In this embodiment, the connection setting of the mounting plate 157 is realized by the second connecting member 143, ensuring the stability and reliability of the first mounting assembly 132 and the inspection robot 10.

[0208] Optionally, the second connecting member 143 includes a second connecting portion (not shown in the figure) and a first mounting portion (not shown in the figure). When the second connecting member 143 is arranged on the support frame 130, the second connecting portion is fixedly connected to the support frame 130. The first mounting portion is connected to the second connecting portion. When the mounting plate 157 is arranged on the second connecting member 143, the first mounting portion abuts against the mounting plate 157. The plane where the second connecting portion is located and the plane where the first mounting portion is located are at a preset angle. Exemplarily, the value of the preset angle is 90°.

[0209] In this embodiment, the second connection part can be firmly connected to the support frame 130 by fasteners (such as bolts, nuts), welding or other connection methods. When the mounting plate 157 is set on the second connection member 143, the first mounting part abuts against the mounting plate 157 to ensure stable support for the mounting plate 157. By combining the second connection part and the first mounting part, and setting a preset angle between the second connection part and the first mounting part, the second connection member 143 can flexibly adapt to different installation angles and layout requirements, so that the second connection member 143 has a higher degree of freedom and adaptability during design and installation. Due to the presence of the second connection part and the first mounting part, the second connection member 143 can be more easily aligned and fixed with the support frame 130 and the mounting plate 157, which improves the installation convenience of the second connection member 143.

[0210] In some embodiments, the first mounting portion includes a first surface (not shown in the figure) abutting against the mounting plate 157 and a second surface (not shown in the figure) arranged opposite to the first surface. Extending from the first surface toward the second surface, a second flange (not shown in the figure) is formed on the second surface side to form a second connecting portion. The number of the second connecting portions is one. The first mounting portion also includes a connecting hole 139. The connecting hole 139 runs through the first surface and the second surface, and is used to fix and connect the mounting plate 157. Extending from the first surface toward the second surface, a protrusion 140 is formed on the second surface along the circumference of the connecting hole 139.

[0211] In this embodiment, the second connection part and the first mounting part are integrally formed to enhance the structural strength of the second connection member 143, thereby improving the structural stability and reliability of the first mounting assembly 132 and the box assembly 100. In this embodiment, a mounting hole 158 corresponding to the communication hole 139 is provided on the mounting plate 157. When the mounting plate 157 is arranged on the second connection member 143, the mounting hole 158 is interlinked with the communication hole 139, so that bolts, screws or other fasteners can penetrate the communication hole 139 and the mounting hole 158, thereby realizing a firm connection between the first mounting part and the mounting plate 157, and realizing a stable installation of the mounting plate 157. In this embodiment, by forming a protrusion 140 on the fixing surface along the circumference of the communication hole 139, support and protection around the communication hole 139 are ensured, and the stability and durability of the connection point are increased, thereby enhancing the connection strength between the first mounting part and the mounting plate 157, so that the first mounting assembly 132 can withstand greater loads and stresses, and the stability and safety of the box assembly 100 are improved.

[0212] In some embodiments, there are multiple communicating holes 139, and multiple communicating holes 139 are arranged at intervals on the first mounting portion. Extending from the first surface toward the second surface, a protrusion 140 is formed on the second surface along the circumference of each communicating hole 139. In this embodiment, by increasing the number of communicating holes 139 and protrusions 140, the connection strength between the first mounting portion and the mounting plate 157 is further enhanced.

[0213] In some embodiments, in combination Fig.25 As shown, the first mounting portion also includes an avoidance groove (not shown in the figure). Extending from the side of the first mounting portion away from the second connecting portion toward the side connected to the second connecting portion, a groove is formed on the side of the first mounting portion away from the second connecting portion to form the avoidance groove. In this embodiment, by providing the avoidance groove, the first mounting portion can better adapt to a compact installation environment, avoid interference with other installation components (such as bolts, screws), and improve the installation flexibility and adaptability of the second connecting member 143.

[0214] In some embodiments, the second connecting member 143 includes a second connecting portion and a first mounting portion. The first mounting portion is connected to the second connecting portion. When the mounting plate 157 is arranged on the second connecting member 143, the first mounting portion is in contact with the mounting plate 157. The plane where the second connecting portion is located and the plane where the first mounting portion is located are at a preset angle. The first mounting portion includes a first surface that is in contact with the mounting plate 157 and a second surface that is arranged opposite to the first surface. Extending from the first surface toward the second surface, a second flange is formed on the second surface side to form a second connecting portion. The number of second connecting portions is two, and the two second connecting portions are respectively located on opposite sides of the first mounting portion. The second connecting member 143 includes a mounting end (not shown in the figure) and an identification end (not shown in the figure) that are arranged oppositely. When the second connecting member 143 is arranged on the support frame 130, the second connecting portion and the first mounting portion located at the mounting end are connected to the support frame 130. The second connecting portion gradually decreases from the side connected to the first mounting portion toward the side away from the first mounting portion, and the distance from the identification end to the mounting end. In this embodiment, the installation end and the identification end are set so that the installer can identify the second connecting member 143 and perform rapid installation, thereby improving the assembly efficiency of the inspection robot 10.

[0215] In some embodiments, in combination Fig.19 As shown, the first support member 134 includes a first support rod 135 and a second connecting member 143. The opposite ends of the first support rod 135 are fixedly connected to the support frame 130. The second connecting member 143 is spaced apart from the first support rod 135. In this embodiment, the second connecting portion is connected to the extension portion. The plane where the second support portion and the first mounting portion are located are located in the same plane, and when the mounting plate 157 is disposed on the first support member 134, the mounting plate 157 is disposed in abutment with both the second support portion and the first mounting portion. In this embodiment, the first support member 134 is composed of a combination of the first support rod 135 and the second connecting member 143 to enhance the supporting strength of the first support member 134, thereby enhancing the structural stability and reliability of the box assembly 100.

[0216] In some embodiments, the first support member 134 includes a first support rod 135 and a second connecting member 143. The opposite ends of the first support rod 135 are fixedly connected to the support frame 130. The second connecting member 143 is spaced apart from the first support rod 135. In this embodiment, the second connecting portion and the first mounting portion at the mounting end are connected to the first support rod 135. The plane where the second support portion and the first mounting portion are located are located in the same plane, and when the mounting plate 157 is disposed on the first support member 134, the mounting plate 157 is disposed in abutment with both the second support portion and the first mounting portion. In this embodiment, the first support member 134 is composed of the first support rod 135 and the second connecting member 143 to enhance the supporting strength of the first support member 134, thereby enhancing the structural stability and reliability of the box assembly 100.

[0217] In some embodiments, the first support member 134 includes a first support rod 135 and a second connecting member 143. The second connecting member 143 is arranged at intervals on the support frame 130, and the opposite ends of the first support rod 135 are connected to the second connecting member 143. In this embodiment, the second connecting portion and the first mounting portion at the mounting end are connected to the first support rod 135, and the first support rod 135 is sleeved on the second connecting member 143. Among them, the first mounting portion abuts against the fixed surface of the second support portion, and the extension portion abuts against the second connecting portion, so that the first support rod 135 is sleeved on the second connecting member 143. When the mounting plate 157 is arranged on the first support member 134, the mounting plate 157 abuts against the abutting surface of the second support portion. In this embodiment, the first support member 134 is composed of the first support rod 135 and the second connecting member 143 to improve the supporting strength of the first support member 134, thereby improving the structural stability and reliability of the box assembly 100.

[0218] Optionally, combined Fig. 20 and Fig.21 As shown, the first support assembly 133 also includes a second reinforcement member 151. In this embodiment, the first support member 134 is disposed on the support frame 130. The second reinforcement member 151 is disposed on the first support member 134. Among them, the mounting plate 157 is disposed on the first support member 134 and abuts against the first reinforcement member 446. In this embodiment, by introducing the second reinforcement member 151 to connect with the first support member 134, the load and stress from the mounting plate 157 and other components are jointly borne, and the structural strength and stability of the first support assembly 133 are further enhanced.

[0219] Optionally, combined Fig.21 As shown, the second reinforcement member 151 includes a supporting plate 152. The opposite ends of the supporting plate 152 are respectively connected to the first support member 134. The supporting plate 152 includes a supporting surface 153 and a docking surface 154 that are arranged opposite to each other. When the mounting plate 157 is arranged on the first reinforcement member 446, the supporting surface 153 of the supporting plate 152 abuts against the mounting plate 157. Extending from the supporting surface 153 toward the docking surface 154, a third flange 156 is formed on the supporting surface 153 side of the supporting plate 152. The number of the third flanges 156 is two, and the two third flanges 156 are respectively located on the opposite sides of the supporting plate 152. The supporting plate 152 also includes connecting holes 139 that are arranged at intervals. The connecting holes 139 pass through the supporting surface 153 and the docking surface 154, and are used to fix and connect the mounting plate 157. A protrusion 140 is formed on the butt joint surface 154 along the circumference of the communication hole 139 and extends from the support surface 153 toward the butt joint surface 154 .

[0220] In this embodiment, when the first support member 134 is the first support rod 135, the end of the support plate 152 is connected to the extension portion. When the first support member 134 is the second connecting member 143, the support plate 152 is arranged on the first mounting portion, and the first surface of the first mounting portion abuts against the docking surface 154 of the support plate 152. In this embodiment, a mounting hole 158 corresponding to the connecting hole 139 is arranged on the mounting plate 157. When the mounting plate 157 is arranged on the first reinforcement member 446, the supporting surface 153 of the support plate 152 abuts against the mounting plate 157. At this time, the mounting hole 158 is connected with the connecting hole 139, so that bolts, screws or other fasteners can penetrate the connecting hole 139 and the mounting hole 158 to achieve a firm connection between the support plate 152 and the mounting plate 157. In this embodiment, by forming a protrusion 140 on the fixing surface along the circumference of the connecting hole 139, support and protection around the connecting hole 139 are ensured, the stability and durability of the connection point are increased, and the connection strength between the support plate 152 and the mounting plate 157 is enhanced.

[0221] In some embodiments, in combination Fig.19 and Fig. 20 As shown, there are multiple mounting plates 157. Multiple mounting plates 157 are spaced apart on the support frame 130 through the first support assembly 133 for mounting different components. In this embodiment, by increasing the number of mounting plates 157, the installation requirements of different components are met and the space utilization is optimized.

[0222] Optionally, combined Fig. 22 and Fig.23 As shown, the shapes of the plurality of mounting plates 157 are different. In a specific example, the mounting plate 157 includes a first plate body 161 and a second plate body 167, and the first plate body 161 and the second plate body 167 are connected and arranged.

[0223] Combination Fig. 22 and Fig.23As shown, the first plate body 161 includes a first plate body. The first plate body includes a first mounting surface 162 and a first connecting surface 163 that are oppositely arranged. The first mounting surface 162 is used to install components, and the first connecting surface 163 is connected to the first support assembly 133. The first plate body includes a first end 164 and a second end 165 that are oppositely arranged. The first plate body 161 also includes a fourth flange 166, and the fourth flange 166 is located at the first end 164 of the first plate body. Extending from the first mounting surface 162 toward the first connecting surface 163, the fourth flange 166 is formed on the side of the first connecting surface 163 of the first end 164 of the first plate body. When the first plate body 161 is arranged on the first support assembly 133, the first plate body is connected to the first support assembly 133, the fourth flange 166 is located on the side of the first support assembly 133 close to the box body 101, and the fourth flange 166 abuts against the box body 101. The second end 165 is connected to the second plate body 167.

[0224] Combination Fig. 22 and Fig.23 As shown, the second plate body 167 includes a second plate body. The second plate body includes a second mounting surface 168 and a second connecting surface 169 that are oppositely arranged, the second mounting surface 168 is used for the first mounting component, and the second connecting surface 169 is connected to the first support assembly 133. The second plate body includes a third end 170 and a fourth end 171 that are oppositely arranged, and the second plate body 167 also includes a fifth flange 172, and the fifth flange 172 is located at the fourth end 171 of the second plate body.

[0225] The second plate body 167 extends from the second mounting surface 168 toward the second connecting surface 169, and a fifth flange 172 is formed on the second connecting surface 169 side of the fourth end 171. When the second plate body 167 is arranged on the first supporting assembly 133, when the second plate body is connected to the first supporting assembly 133, the fifth flange 172 is located on the side of the first supporting assembly 133 close to the box body 101, and the fifth flange 172 abuts against the box body 101. The second end 165 is connected to the third end 170. The second plate body 167 also includes a sixth flange 173, and the sixth flange 173 is located at the third end 170 of the second plate body. Extending from the fourth end 171 toward the third end 170, a sixth flange 173 is formed at the third end 170, and the sixth flange 173 is connected to the second end 165. The plane where the sixth flange 173 is located is parallel to the plane where the second plate body is located and has a preset distance, and the preset distance is equal to the thickness of the first plate body, so that when the sixth flange 173 is connected to the second end 165, along the height direction of the box body 101, the sixth flange 173 is overlapped on the second end 165 of the first plate body, and the planes where the first plate body and the second plate body are located are in the same plane.

[0226] Optionally, combined Fig. 22As shown, mounting holes 158 corresponding to the communication holes 139 are arranged at intervals on the mounting plate 157, so that when the mounting plate 157 is arranged on the first support assembly 133, the mounting holes 158 can be connected with the communication holes 139 on the first support member 134 and / or the second reinforcement member 151. In this embodiment, by providing mounting holes 158 corresponding to the communication holes 139 at intervals on the mounting plate 157, when the mounting plate 157 is arranged on the first support assembly 133, bolts, screws or other fasteners can be passed through the communication holes 139 and the mounting holes 158 to achieve the connection between the first support member 134 and / or the second reinforcement member 151 and the mounting plate 157.

[0227] Optionally, combined Fig.19 , Fig. 20 and Fig. 22 As shown, when a plurality of mounting plates 157 are spaced apart on the support frame 130 through the first support assembly 133 to divide the mounting cavity 102 into a plurality of sub-cavities, a through-hole 159 is further provided on the mounting plate 157 to connect adjacent sub-cavities. In this embodiment, the mounting cavity 102 is divided into a plurality of independent sub-cavities through the spaced apart arrangement of the plurality of mounting plates 157 and the connecting function of the through-hole 159, and the adjacent sub-cavities can be electrically connected or signal transmitted through the through-hole 159, so that the independence of the sub-cavities is ensured while the connectivity between the adjacent sub-cavities is ensured, which provides convenience for the coordinated work between different components.

[0228] Optionally, combined Figure 4 and Fig.19 As shown, the box assembly 100 also includes a limiter 174. The limiter 174 is located in the installation cavity 102 and is used to limit the components installed in the installation cavity 102. In this embodiment, the limiter 174 is used to limit the components installed in the installation cavity 102. During the component installation process, it can ensure that the components are accurately positioned at the predetermined position, reducing the risk of component failure or performance degradation of the inspection robot 10 due to installation errors. After the components are installed, the limiter 174 can ensure that the components are stably positioned to prevent the components from moving or shaking during operation, thereby improving the performance and service life of the inspection robot 10.

[0229] In some embodiments, in combination Figure 4 and Fig.19As shown, the limiting member 174 includes a battery pack limiting member 175. The battery pack limiting member 175 is provided on the case 101, and is located in the installation cavity 102. The battery pack limiting member 175 is used to install the battery pack 701. In this embodiment, the battery pack limiting member 175 is provided to limit the battery pack 701, so as to ensure that the battery pack 701 is accurately positioned at a predetermined position during the installation of the battery pack 701. After the battery pack 701 is installed, the battery pack 701 is stably positioned to prevent the battery pack 701 from moving or shaking during operation.

[0230] Optionally, combined Fig.19 As shown, the battery pack limiter 175 includes a first abutment 176 and a second abutment 181. The first abutment 176 is arranged on the box body 101, located in the installation cavity 102. The second abutment 181 is connected to the first abutment 176. A third opening 177 is arranged on the side of the first abutment 176 facing the second opening 104. The second abutment 181 is arranged at the end of the first abutment 176 away from the third opening 177.

[0231] In this embodiment, a third opening 177 is provided on the side of the first abutment member 176 facing the second opening 104. The direction from the second opening 104 to the third opening 177 can be understood as the insertion direction of the battery pack 701, and the direction from the third opening 177 to the second opening 104 can be understood as the removal direction of the battery pack 701. The third opening 177 is used to guide the insertion of the battery pack 701 to ensure that the battery pack 701 can smoothly contact the first abutment member 176 during the installation process. A second abutment member 181 is provided at the end of the first abutment member 176 away from the third opening 177 to ensure that the battery pack 701 can be firmly fixed after installation, so as to achieve stable installation of the battery pack 701.

[0232] Optionally, combined Fig.19 As shown, the first abutment member 176 includes a first positioning plate 178, a second positioning plate 179 and a third positioning plate 180. The first positioning plate 178, the second positioning plate 179 and the third positioning plate 180 are all in the shape of long strips. The opposite ends of the second positioning plate 179 are respectively connected to the ends of the first positioning plate 178 and the third positioning plate 180. The first positioning plate 178, the second positioning plate 179 and the third positioning plate 180 are arranged to form a rectangle with a third opening 177 on one side, which is adapted to the horizontal cross-sectional shape of the battery pack 701. The horizontal cross-section of the battery pack 701 refers to the cross-sectional shape of the battery pack 701 after being cut in the horizontal direction when the battery pack 701 is arranged in the mounting cavity 102.

[0233] In this embodiment, the opposite ends of the second positioning plate 179 are respectively connected to the ends of the first positioning plate 178 and the third positioning plate 180 to form an enclosure structure. One side of the enclosure structure has a third opening 177 for guiding the insertion of the battery pack 701. The shape and size of the third opening 177 match the insertion direction of the battery pack 701 to ensure that the battery pack 701 can smoothly enter the enclosure structure during the installation process. The rectangle formed by the first positioning plate 178, the second positioning plate 179 and the third positioning plate 180 is adapted to the horizontal cross-sectional shape of the battery pack 701, ensuring that the battery pack 701 can be in close contact with the first abutment 176 and be stably fixed during the installation process.

[0234] Optionally, combined Fig.19 As shown, the second abutment member 181 includes a first abutment plate 182, a second abutment plate 183, a third abutment plate 184 and a fourth abutment plate 185. The first abutment plate 182, the second abutment plate 183 and the third abutment plate 184 are in the shape of long strips. The opposite ends of the second abutment plate 183 are connected to the ends of the first abutment plate 182 and the third abutment plate 184 respectively. The first abutment plate 182 is connected to the end of the first positioning plate 178 close to the second positioning plate 179 away from the end of the second abutment plate 183. The third abutment plate 184 is connected to the end of the third positioning plate 180 close to the second positioning plate 179 away from the end of the second abutment plate 183. Around the circumference of the fourth abutment plate 185, the fourth abutment plate 185 is connected to the first abutment plate 182, the second abutment plate 183, the third abutment plate 184 and the second positioning plate 179 in sequence. The shape of the fourth abutting plate 185 matches the vertical cross-sectional shape of the battery pack 701. The vertical cross-sectional shape of the battery pack 701 refers to the cross-sectional shape of the battery pack 701 after being cut in the vertical direction when the battery pack 701 is arranged in the mounting cavity 102.

[0235] In this embodiment, the opposite ends of the second abutment plate 183 are connected to the ends of the first abutment plate 182 and the third abutment plate 184, respectively, to form a U-shaped structure. The end of the first abutment plate 182 of the U-shaped structure away from the second abutment plate 183 is connected to the end of the first positioning plate 178 close to the second positioning plate 179, and the end of the third abutment plate 184 away from the second abutment plate 183 is connected to the end of the third positioning plate 180 close to the second positioning plate 179. The second abutment member 181 and the first abutment member 176 together form a semi-enclosed space for accommodating and fixing the battery pack 701. The fourth abutment plate 185 is connected to the first abutment plate 182, the second abutment plate 183, the third abutment plate 184 and the second positioning plate 179 in sequence in the circumferential direction, ensuring that the battery pack 701 can be closely contacted with the second abutment member 181 during the installation process and be firmly fixed. In this embodiment, the U-shaped structure of the second abutting member 181 and the fixing function of the fourth abutting plate 185 are utilized to stably fix the battery pack 701 in the installation cavity 102 .

[0236] Optionally, combined Fig.24 As shown, the movable panel 125 includes a movable panel body 126 and a third reinforcement member 127. The movable panel body 126 is movably disposed on the box body 101, and is used to open or close the second opening 104. The third reinforcement member 127 is disposed on the movable panel body 126, wherein a sealing strip 129 is disposed on the movable panel body 126 along the circumference of the third reinforcement member 127. In this embodiment, by disposing the third reinforcement member 127 on the movable panel body 126, the strength and rigidity of the movable panel body 126 are improved, the movable panel body 126 is prevented from being deformed or damaged during long-term use, and the service life of the movable panel 125 is extended.

[0237] In some embodiments, in combination Fig.24 As shown, the third reinforcement member 127 includes a plurality of reinforcement ribs 128 or reinforcement plates or reinforcement frames, and the plurality of reinforcement ribs 128 or reinforcement plates or reinforcement frames are fixed to the movable plate body 126 by welding, bolt connection or other methods.

[0238] In some embodiments, the specific structure of the third reinforcement member 127 is the same as the specific structure of the second reinforcement member 151 in the above embodiment, and will not be repeated here.

[0239] In some embodiments, in combination Fig.24 As shown, the third reinforcement member 127 includes a plurality of reinforcement ribs 128. The plurality of reinforcement ribs 128 are disposed at intervals on the movable panel body 126, and the ends of adjacent reinforcement ribs 128 are connected.

[0240] In a specific example, combining Fig.24As shown, the first support rod 135 can be used as the reinforcing rib 128, and then a plurality of first support rods 135 are arranged at intervals on the movable plate body 126, and the ends of adjacent first support rods 135 are connected to form a third reinforcing member 127. Exemplarily, the third reinforcing member 127 includes four first support rods 135. The opposite ends of the four first support rods 135 are connected in sequence. The sealing strip 129 is arranged on the movable plate body 126 along the circumference of the shape surrounded by the four first support rods 135. The first support rod 135 includes a second support portion and an extension portion. The extension portion is connected to the second support portion. The second support portion includes an abutting surface and a fixing surface that are arranged oppositely. Extending from the abutting surface toward the fixing surface, a first flange is formed on the fixing surface side to form an extension portion. The number of the extension portions is two, and the two extension portions are respectively located on opposite sides of the second support portion. The side of the extension portion away from the second support portion is connected to the movable plate body 126. A plurality of weight reduction holes 604 are arranged at intervals on the second support portion.

[0241] Optionally, combined Fig.24 As shown, the movable panel 125 is movably arranged on the box body 101 through the second connecting member 143. In some embodiments, the specific structure of the second connecting member 143 can refer to the above embodiment. The second connecting portion is arranged on the box body 101. The movable panel body 126 is provided with a mounting hole 158 corresponding to the connecting hole 139 on the first mounting portion. When the movable panel 125 closes the second opening 104, the connecting hole 139 and the mounting hole 158 are interlinked, so that the movable panel body 126 can be connected to the first mounting portion by bolts, screws or other fasteners, so that the movable panel 125 closes the second opening 104.

[0242] In some embodiments, the second connecting member 143 includes a second connecting portion and a first mounting portion. The first mounting portion is connected to the second connecting portion. The first mounting portion includes a first surface and a second surface that are arranged opposite to each other. The second connecting portion includes a second flange and a first extended flange (not shown in the figure). Extending from the first surface toward the second surface, a second flange is formed at opposite ends of the second surface side. Along the length direction of the first mounting portion, a first extended flange is formed at the end of the second flange away from the first mounting portion and extending in a direction away from the first mounting portion. The first extended flange is connected to the box body 101. The movable plate body 126 is provided with a mounting hole 158 corresponding to the connecting hole 139 on the first mounting portion. When the movable plate 125 closes the second opening 104, the connecting hole 139 and the mounting hole 158 are interlinked, so that the movable plate body 126 can be connected to the first mounting portion by bolts, screws or other fasteners, so that the movable plate body 126 can be connected to the first mounting portion to achieve the movable plate 125 closing the second opening 104.

[0243] Optionally, combined Fig.25As shown, the box assembly 100 also includes a second mounting assembly 186, and the second mounting assembly 186 is disposed on the sealing plate 110. The sensing mechanism 500 includes an image acquisition device 513, and the image acquisition device 513 is disposed on the second mounting assembly 186. In this embodiment, the image acquisition device 513 is used to acquire image information of the periphery of the inspection robot 10, and the image acquisition device 513 is communicatively connected with the industrial computer 200 and / or the communication mechanism 300, so that the image acquisition device 513 can capture image information of the periphery of the inspection robot 10 in real time, so as to monitor the industrial environment and timely discover and handle potential faults or safety hazards. By adding a second mounting assembly 186 to install the image acquisition device 513, the stability and reliability of the image acquisition device 513 during operation are ensured.

[0244] In some embodiments, the image acquisition device 513 includes a camera and / or a visible light vision sensor and / or an infrared thermal imager, etc.

[0245] Optionally, combined Fig.25 and Fig. 27 As shown, the second mounting assembly 186 includes a telescopic rod 187. The telescopic rod 187 is disposed on the sealing plate 110, and one end of the telescopic rod 187 away from the box 101 is connected to the image acquisition device 513, and the telescopic rod 187 can be extended and retracted along the height direction of the box 101. In this embodiment, the telescopic rod 187 can be extended and retracted along the height direction of the box 101. By adjusting the telescopic length of the telescopic rod 187, the position and height of the image acquisition device 513 can be flexibly adjusted to adapt to different application scenarios and image acquisition requirements, thereby enhancing the wide applicability and monitoring capabilities of the inspection robot 10.

[0246] Optionally, combined Fig.18 , Fig.25 and Fig. 27 As shown, the sealing plate 110 includes a first communication port 113, and the telescopic rod 187 passes through the first communication port 113, one end of which is located in the installation cavity 102, and the other end of which is located outside the installation cavity 102, and the end of the telescopic rod 187 located outside the installation cavity 102 is connected to the image acquisition device 513. The shape of the first communication port 113 is adapted to the telescopic rod 187. In this embodiment, the sealing plate 110 is provided with a first communication port 113, and the shape of the first communication port 113 is adapted to the telescopic rod 187, ensuring that the telescopic rod 187 can smoothly pass through the sealing plate 110 while maintaining the sealing performance of the sealing plate 110.

[0247] Optionally, combined Figure 25 to Figure 27As shown, the second mounting assembly 186 further includes a second mounting base 190. The second mounting base 190 is disposed on the mounting plate 157, and one end of the telescopic rod 187 located in the mounting cavity 102 is connected to the second mounting base 190. In this embodiment, the mounting plate 157 serves as a carrier of the second mounting assembly 186, and provides a mounting base for the second mounting base 190 and the telescopic rod 187. The second mounting base 190 is used to connect the telescopic rod 187 and the mounting plate 157 to ensure the stability and reliability of the telescopic rod 187.

[0248] Optionally, combined Fig.26 As shown, the second mounting base 190 includes a mounting sleeve 191 and a first mounting substrate 192. The first mounting substrate 192 is disposed on the mounting plate 157. The mounting sleeve 191 is disposed on the first mounting substrate 192. The mounting sleeve 191 is sleeved on the end of the telescopic rod 187 and connected to the telescopic rod 187. In this embodiment, the second mounting base 190 provides a stable mounting base for the telescopic rod 187. The shape and size of the mounting sleeve 191 are adapted to the end of the telescopic rod 187 to ensure that the telescopic rod 187 can be smoothly inserted therein and connected to the mounting sleeve 191, thereby improving the installation stability of the telescopic rod 187.

[0249] Optionally, combined Fig.26 As shown, at the opening of one end of the mounting sleeve 191, a first mounting flange 193 extending from the circumferential edge of the opening toward the radial outer side of the opening is formed to form a first mounting base plate 192. In this embodiment, the mounting sleeve 191 and the first mounting base plate 192 are integrally formed to enhance the structural strength of the second mounting base 190, thereby further enhancing the installation stability and reliability of the telescopic rod 187.

[0250] Optionally, combined Fig. 27 As shown, the telescopic rod 187 includes a wiring cavity 189. The interior of the telescopic rod 187 is a hollow structure to form the wiring cavity 189. The mounting plate 157 also includes a second connecting port 160. When the telescopic rod 187 is set on the mounting plate 157 through the first mounting substrate 192, the second connecting port 160 is connected to the wiring cavity 189. In this embodiment, by setting the wiring cavity 189 of the telescopic rod 187 and the second connecting port 160 of the mounting plate 157, effective management of the cables required for the image acquisition device 513 is achieved. The cables required for the image acquisition device 513 are placed in the wiring cavity 189 of the telescopic rod 187 through the second connecting port 160, avoiding the risk of the cables being exposed and damaged outside the telescopic rod 187, thereby improving the safety of the inspection robot 10.

[0251] Optionally, combined Fig. 20 , Fig.21 and Fig. 27As shown, when the first support assembly 133 includes the second reinforcement member 151, the mounting plate 157 is disposed on the first support member 134 and abuts against the second reinforcement member 151, the supporting plate 152 further includes a third communication port 155 disposed corresponding to the second communication port 160. When the mounting plate 157 is disposed on the second reinforcement member 151, the second communication port 160 and the third communication port 155 are interlinked. In this embodiment, the second communication port 160 and the third communication port 155 are interlinked, and the second communication port 160 and the wiring cavity 189 are interlinked, so that the cables required by the image acquisition device 513 can be connected to the image acquisition device 513 by passing through the second communication port 160, the third communication port 155 and the wiring cavity 189. In this embodiment, the combination of the second communication port 160 and the third communication port 155 not only ensures that the cables can pass through the mounting plate 157 and the supporting plate 152 smoothly, but also avoids the risk of the cables being exposed and damaged in the external environment, thereby improving the safety of the inspection robot 10.

[0252] Optionally, combined Fig.25 and Fig. 27 As shown, the second mounting assembly 186 further includes a second support assembly 194. One end of the second support assembly 194 is connected to the telescopic rod 187, and the other end is connected to the sealing plate 110. In this embodiment, the second support assembly 194 is used to support the telescopic rod 187 to ensure that the telescopic rod 187 can remain stable during the telescopic process.

[0253] Optionally, combined Fig.25 and Fig. 27 As shown, there are two telescopic rods 187, and the two telescopic rods 187 are spaced apart on the sealing plate 110. The second support assembly 194 includes a connecting rod 195 and a third supporting rod 196, and the opposite ends of the connecting rod 195 are respectively connected to the two telescopic rods 187, and one end of the third supporting rod 196 is connected to the connecting rod 195, and the other end is connected to the sealing plate 110. Among them, there are two image acquisition devices 513, and the two image acquisition devices 513 are arranged in a one-to-one correspondence with the two telescopic rods 187.

[0254] In this embodiment, by increasing the number of telescopic rods 187 and image acquisition devices 513, a wider range of image acquisition requirements can be met, thereby improving the monitoring capability of the inspection robot 10. The second support assembly 194 is composed of a connecting rod 195 and a third support rod 196. The two opposite ends of the connecting rod 195 are respectively connected to the two telescopic rods 187, one end of the third support rod 196 is connected to the connecting rod 195, and the other end is connected to the sealing plate 110, forming a stable triangular support structure, ensuring the stability and reliability of the second mounting assembly 186.

[0255] Optionally, combined Fig.25 and Fig. 27 As shown, the telescopic rod 187 includes a first rod body 188 and a second rod body 259. The first rod body 188 is sleeved on the second rod body 259. The first rod body 188 is arranged on the sealing plate 110. The second rod body 259 can slide relative to the first rod body 188 along the height direction of the box body 101 to achieve telescoping. In this embodiment, the first rod body 188 is sleeved on the second rod body 259, and the second rod body 259 can slide relative to the first rod body 188 along the height direction of the box body 101, forming a telescopic structure, so that the telescopic rod 187 can be slidably adjusted along the height direction of the box body 101, thereby meeting different image acquisition device 513 installation and adjustment requirements.

[0256] Optionally, combined Fig.25 and Fig. 27 As shown, the two opposite ends of the connecting rod 195 are respectively connected to the first rod body 188 or the second rod body 259, one end of the third support rod 196 is connected to the connecting rod 195, and the other end is connected to the sealing plate 110. In this embodiment, the two opposite ends of the connecting rod 195 are respectively connected to the first rod body 188 or the second rod body 259, and one end of the third support rod 196 is connected to the connecting rod 195 to form a stable triangular support structure, thereby ensuring the stability and reliability of the second mounting assembly 186.

[0257] In some embodiments, the two opposite ends of the connecting rod 195 are respectively fixedly connected to the first rod body 188, one end of the third support rod 196 is fixedly connected to the connecting rod 195, and the other end is fixedly connected to the sealing plate 110. In this embodiment, the two opposite ends of the connecting rod 195 are respectively fixedly connected to the first rod body 188, and one end of the third support rod 196 is fixedly connected to the connecting rod 195 to form a stable and unchanging triangular support structure to ensure the stability and reliability of the second mounting assembly 186.

[0258] In some embodiments, the two opposite ends of the connecting rod 195 are slidably connected to the second rod body 259, one end of the third support rod 196 is fixedly connected to the connecting rod 195, and the other end is fixedly connected to the sealing plate 110. In this embodiment, the two opposite ends of the connecting rod 195 are slidably connected to the second rod body 259, and one end of the third support rod 196 is fixedly connected to the connecting rod 195 to form a stable and unchanging triangular support structure, which ensures the stability and reliability of the second mounting assembly 186 while not affecting the sliding of the second rod body 259 relative to the first rod body 188 along the height direction of the box body 101, thereby ensuring the normal execution of the telescopic action of the telescopic rod 187.

[0259] In some embodiments, opposite ends of the connecting rod 195 are respectively fixedly connected to the first rod body 188, one end of the third support rod 196 is rotatably connected to the connecting rod 195, and the other end is rotatably connected to the sealing plate 110. In this embodiment, one end of the third support rod 196 is rotatably connected to the connecting rod 195, and the other end is rotatably connected to the sealing plate 110, so as to allow the third support rod 196 to change the connection angle between the connecting rod 195 and the sealing plate 110 as the telescopic rod 187 is extended and retracted, thereby achieving a more flexible support effect and ensuring the normal execution of the telescopic action of the telescopic rod 187.

[0260] Optionally, combined Fig.25 and Fig. 27 As shown, the second support assembly 194 further includes a third connecting member 198. The third connecting member 198 is respectively disposed at opposite ends of the connecting rod 195 and an end of the third support rod 196 close to the connecting rod 195, and is used to connect the connecting rod 195 and the telescopic rod 187, and the connecting rod 195 and the third support rod 196. In this embodiment, the third connecting member 198 is used to connect the connecting rod 195 and the telescopic rod 187, and the connecting rod 195 and the third support rod 196, so as to ensure that the second support assembly 194 stably supports the telescopic rod 187.

[0261] Optionally, combined Fig.25 , Fig. 27 and Fig.28 As shown, the third connecting member 198 includes a first sleeve 199 and a second sleeve 201. The first sleeve 199 and the second sleeve 201 are connected and arranged, and the axes of the first sleeve 199 and the second sleeve 201 are perpendicular to each other. When the third connecting member 198 is arranged on the connecting rod 195 and the telescopic rod 187, the first sleeve 199 is sleeved on the telescopic rod 187, and is fixedly connected or slidably connected to the telescopic rod 187. The second sleeve 201 is sleeved on the connecting rod 195 and is fixedly connected to the connecting rod 195. When the third connecting member 198 is arranged on the connecting rod 195 and the third supporting rod 196, the first sleeve 199 is sleeved on the connecting rod 195, and is fixedly connected or rotatably connected to the connecting rod 195. The second sleeve 201 is sleeved on the third supporting rod 196 and is fixedly connected to the third supporting rod 196.

[0262] In this embodiment, the third connecting member 198 includes a first sleeve 199 and a second sleeve 201, and the axes of the first sleeve 199 and the second sleeve 201 are perpendicular to each other, so that the third connecting member 198 can provide support and connection functions in two mutually perpendicular directions, thereby realizing the connection between the connecting rod 195 and the telescopic rod 187, and the connecting rod 195 and the third support rod 196.

[0263] Optionally, combined Figures 28 to 30As shown, the third connecting member 198 includes a first connecting member 202 and a second connecting member 231. The first connecting member 202 includes a third connecting portion 203 and a fourth connecting portion 207. The second connecting member 231 includes a fifth connecting portion 232 and a sixth connecting portion 236. The third connecting portion 203 and the fifth connecting portion 232 are connected to each other, and the fourth connecting portion 207 and the sixth connecting portion 236 are connected to each other. A second groove 204 is provided on a side of the third connecting portion 203 close to the fifth connecting portion 232, and a third groove 208 is provided on a side of the fourth connecting portion 207 close to the sixth connecting portion 236, and the axes of the second groove 204 and the third groove 208 are perpendicular to each other. A fourth groove 233 is provided on a side of the fifth connecting portion 232 close to the third connecting portion 203, and a fifth groove 237 is provided on a side of the sixth connecting portion 236 close to the fourth connecting portion 207, and the axes of the fourth groove 233 and the fifth groove 237 are perpendicular to each other. When the third connection part 203 and the fifth connection part 232 are connected, the second groove 204 and the fourth groove 233 are connected to form the first sleeve 199; when the fourth connection part 207 and the sixth connection part 236 are connected, the third groove 208 and the fifth groove 237 are connected to form the second sleeve 201.

[0264] In this embodiment, the third connecting member 198 includes a first connecting member 202 and a second connecting member 231. By docking the first connecting member 202 and the second connecting member 231, the third connecting portion and the fifth connecting portion 232, as well as the fourth connecting portion 207 and the sixth connecting portion 236 are docked, so that the second groove 204 and the fourth groove 233 are docked to form the first sleeve 199, and the third groove 208 and the fifth groove 237 are docked to form the second sleeve 201, so that the third connecting member 198 can provide support and connection functions in two mutually perpendicular directions. In this embodiment, by dividing the third connecting member 198 into the first connecting member 202 and the second connecting member 231, the installation convenience of the second mounting assembly 186 is improved.

[0265] Optionally, combined Figures 28 to 30 As shown, on the side of the third connection part 203 away from the fourth connection part 207, a second mounting flange 205 is formed extending from the fourth connection part 207 toward the third connection part 203. On the side of the fifth connection part 232 away from the sixth connection part 236, a third mounting flange 234 is formed extending from the sixth connection part 236 toward the fifth connection part 232. The second mounting flange 205 and the third mounting flange 234 are connected to each other. The second mounting flange 205 is provided with a first docking hole 206, and the third mounting flange 234 is provided with a second docking hole 235 corresponding to the first docking hole 206. When the second mounting flange 205 and the third mounting flange 234 are docked, the first docking hole 206 and the second docking hole 235 are connected.

[0266] In this embodiment, the second mounting flange 205 and the third connection part 203 are integrally formed, and the third mounting flange 234 and the fifth connection part 232 are integrally formed, thereby ensuring the structural strength of the first connection sub-component 202 and the second connection sub-component 231. By forming the second mounting flange 205 and the third mounting flange 234, additional connections are provided to improve the connection strength of the third connection part 198. When the second mounting flange 205 and the third mounting flange 234 are butt-jointed, the first butt-joint hole 206 and the second butt-joint hole 235 are interlinked, so as to facilitate the installation of fasteners (such as screws, bolts, etc.), thereby fixing and connecting the first connection sub-component 202 and the second connection sub-component 231.

[0267] Optionally, combined Figures 28 to 30 As shown, there are multiple first docking holes 206, and multiple first docking holes 206 are arranged at intervals on the second mounting flange 205. There are multiple second docking holes 235, and multiple second docking holes 235 are arranged in a one-to-one correspondence with multiple first docking holes 206. In this embodiment, by increasing the number of first docking holes 206 and second docking holes 235, the connection strength between the first connecting sub-component 202 and the second connecting sub-component 231 is enhanced, thereby improving the structural strength of the third connecting member 198.

[0268] Optionally, combined Figures 28 to 30 As shown, the fourth connecting portion 207 is provided with a third docking hole 209, and the sixth connecting portion 236 is provided with a fourth docking hole 238 corresponding to the third docking hole 209. When the fourth connecting portion 207 and the sixth connecting portion 236 are opposite to each other, the third docking hole 209 and the fourth docking hole 238 are interlinked. In this embodiment, the end portion where the connecting rod 195 and the third support rod 196 are connected to the second sleeve 201 is provided with a fifth docking hole. When the fourth connecting portion 207 and the sixth connecting portion 236 are opposite to each other, the second sleeve 201 is formed and the third docking hole 209 and the fourth docking hole 238 are interlinked. When the second sleeve 201 is connected with the connecting rod 195 and the third support rod 196, the fifth docking hole is interlinked with the third docking hole 209 and the fourth docking hole 238, so as to facilitate the installation of fasteners (such as screws, bolts, etc.), thereby fixing and connecting the second sleeve 201 with the connecting rod 195 and the third support rod 196 respectively.

[0269] Optionally, combined Figures 28 to 30As shown, a first extension protrusion 230 is formed on the side of the fourth connection part 207 away from the third groove 208, and the first extension protrusion 230 is extended along the length direction of the fourth connection part 207, wherein the third docking hole 209 is located on the first extension protrusion 230; and / or, a second extension protrusion 260 is formed on the side of the sixth connection part 236 away from the fifth groove 237, and the second extension protrusion 260 is extended along the length direction of the sixth connection part 236, wherein the fourth docking hole 238 is located on the second extension protrusion 260.

[0270] In this embodiment, the first extension protrusion 230 is extended along the length direction of the fourth connection part 207 to increase the structural strength and rigidity of the fourth connection part 207. The third docking hole 209 is formed on the first extension protrusion 230 to increase the stability and durability of the connection point, thereby enhancing the connection strength between the first connection sub-component 202 and the second connection sub-component 231.

[0271] In this embodiment, the second extension protrusion 260 is extended along the length direction of the sixth connection part 236 to increase the structural strength and rigidity of the sixth connection part 236. The fourth docking hole 238 is formed on the second extension protrusion 260 to increase the stability and durability of the connection point, thereby enhancing the connection strength between the first connection sub-component 202 and the second connection sub-component 231.

[0272] Optionally, combined Fig. 27 and Fig.32 As shown, the second support assembly 194 further includes a fourth connecting member 239. The fourth connecting member 239 is disposed on the sealing plate 110 and is fixedly connected or rotatably connected to one end of the third support rod 196 away from the connecting rod 195. In this embodiment, the fourth connecting member 239 is used to connect the connecting rod 195 and the sealing plate 110 to ensure the stability and reliability between the connecting rod 195 and the sealing plate 110. The fixed connection or rotatable connection between the end of the third support rod 196 away from the connecting rod 195 and the fourth connecting member 239 is adapted to the fixed connection or rotatable connection between the sealing plate 110 and the end of the third support rod 196 away from the connecting rod 195 in the above embodiment.

[0273] Optionally, combined Fig. 27 and Fig.32 As shown, the fourth connecting member 239 includes a first connecting plate (not shown in the figure) and a second connecting plate (not shown in the figure). The first connecting plate is fixedly disposed on the sealing plate 110, and the second connecting plate is fixedly connected to the first connecting plate, and the planes where the first connecting plate and the second connecting plate are located are perpendicular to each other. One end of the third support rod 196 away from the connecting rod 195 is fixedly connected or rotatably connected to the second connecting plate.

[0274] In this embodiment, the fourth connecting member 239 is formed by combining the first connecting plate and the second connecting plate, which maintains a compact structure while enhancing the structural strength of the fourth connecting member 239. The first connecting plate is fixedly connected to the sealing plate 110 to ensure the stability of the connection between the fourth connecting member 239 and the sealing plate 110, and the second connecting plate is used to provide additional support and is fixedly connected or rotatably connected to the end of the third support rod 196 away from the connecting rod 195.

[0275] In some embodiments, a third connecting plate (not shown in the figure) is provided at one end of the third support rod 196 away from the connecting rod 195, and the plane where the third connecting plate is located is parallel to the axis of the third support rod 196. The third connecting plate is fixedly connected or rotatably connected to the second connecting plate. A first connecting hole (not shown in the figure) is provided on the third connecting plate, and a second connecting hole (not shown in the figure) corresponding to the first connecting hole is provided on the second connecting plate.

[0276] In this embodiment, when the third connecting plate and the second connecting plate are fixedly connected or rotatably connected, the first connecting hole and the second connecting hole are connected to facilitate the installation of fasteners (such as screws, bolts, etc.), or the rotating shaft is used to fixedly connect or rotatably connect the third connecting plate and the second connecting plate, thereby fixedly connecting or rotatably connecting the fourth connecting member 239 and the third support rod 196.

[0277] In some embodiments, in combination Fig. 27 and Fig.32 As shown, when the end of the third support rod 196 away from the connecting rod 195 is fixedly connected to the second connecting plate, a third connecting plate is provided at the end of the third support rod 196 away from the connecting rod 195, and the plane where the third connecting plate is located and the axis of the third support rod 196 are perpendicular to each other. The fourth connecting member 239 also includes a fourth connecting plate (not shown in the figure). The fourth connecting plate is fixedly connected to the second connecting plate, and the plane where the fourth connecting plate and the second connecting plate are located are perpendicular to each other. The third connecting plate is fixedly connected to the fourth connecting plate. Among them, when the third connecting plate is fixedly connected to the fourth connecting plate, the planes where the third connecting plate and the fourth connecting plate are located are parallel to each other.

[0278] In this embodiment, the third connecting plate is fixedly connected to the fourth connecting plate, and the planes where the third connecting plate and the fourth connecting plate are located are parallel to each other, so as to increase the connection area between the third connecting plate and the fourth connecting plate, thereby improving the connection strength between the fourth connecting member 239 and the third support rod 196, and improving the structural stability of the box assembly 100.

[0279] Optionally, combined Fig.25 and Fig. 27As shown, the second mounting assembly 186 further includes a third mounting base 243. The third mounting base 243 is disposed at one end of the telescopic rod 187 away from the box 101, and the image acquisition device 513 is disposed on the third mounting base 243. In this embodiment, the third mounting base 243 is used to fix the telescopic rod 187 and the image acquisition device 513, and serves as a support and mounting platform for the image acquisition device 513 to ensure the stability and reliability of the image acquisition device 513.

[0280] In some embodiments, the specific structure of the third mounting base 243 can refer to the second mounting base 190 in the above embodiment, and the specific structure of the third mounting base 243 can be the same as the second mounting base 190. The third mounting base 243 includes a mounting sleeve 191 and a second mounting substrate (not shown in the figure). The mounting sleeve 191 is sleeved on the end of the telescopic rod 187 away from the box 101. The second mounting substrate is set on the mounting sleeve 191 for mounting the image acquisition device 513.

[0281] In some embodiments, in combination Fig.26 and Fig. 27 As shown, the specific structure of the third mounting base 243 may also be different from that of the second mounting base 190. For example, the second mounting base is circular in shape, and the third mounting base is quadrilateral in shape.

[0282] In some embodiments, in combination Fig.25 and Fig. 27 As shown, there are two telescopic rods 187. There are two third mounting bases 243. The two telescopic rods 187 and the two third mounting bases 243 are arranged in a one-to-one correspondence.

[0283] Optionally, combined Fig.16 and Fig.17 As shown, the sealing plate 110 also includes a fourth communication port 114. The fourth communication port 114 and the first communication port 113 are spaced apart and distributed on the sealing plate 110. The sealing plate 110 includes a sealing surface 111 close to the installation cavity 102 and an external surface 112 arranged opposite to the sealing surface 111. The sealing plate 110 also includes a first flange structure 115. The first flange structure 115 is distributed on the external surface 112 along the circumference of the fourth communication port 114 and is used to install components, such as the sensing mechanism 500. The sealing strip 129 is arranged between the box body 101 and the sealing surface 111 along the circumference of the opening.

[0284] In this embodiment, a first flange structure 115 is provided on the external surface 112 along the circumference of the fourth communication port 114 to provide a stable installation platform for the component (such as the sensing mechanism 500), thereby ensuring the stability and reliability of the component during operation. At the same time, the component can interact with the component (such as the battery pack 701 or the industrial computer 200) in the installation cavity 102 through the fourth communication port 114, thereby meeting the interaction requirements of the component.

[0285] In some embodiments, in combination Figures 1 to 4 As shown, the sensing mechanism 500 includes a positioning antenna 514 and / or a signal light 515 , and the positioning antenna 514 and / or the signal light 515 are arranged on the first flange structure 115 .

[0286] The positioning antenna 514 is a device capable of transmitting and / or receiving wireless signals, and is used to determine the position, speed or direction of an object (the inspection robot 10 in this embodiment). In this embodiment, the positioning antenna 514 is arranged on the first flange structure 115, and can communicate with other wireless devices (such as receivers, wireless base stations, etc.) to achieve the precise positioning or tracking function of the inspection robot 10. The signal light 515 is a device capable of emitting visible light, and is used to indicate status, alarm or provide other visual information. In this embodiment, the signal light 515 is arranged on the first flange structure 115 to convey different information or the status of the inspection robot 10 through lights of different colors or flashing patterns.

[0287] Optionally, combined Fig.16 and Fig.17 As shown, there are multiple fourth communication ports 114, and the multiple fourth communication ports 114 are spaced apart and distributed on the sealing plate 110. There are multiple first flange structures 115, and the multiple first flange structures 115 and the multiple fourth communication ports 114 are arranged in a one-to-one correspondence. In this embodiment, by increasing the number of fourth communication ports 114 and first flange structures 115, the installation requirements of different components are met, thereby improving the reliability of the box assembly 100.

[0288] In some embodiments, in combination Fig.16 As shown, the number of the fourth communication ports 114 is two, and the two fourth communication ports 114 are spaced apart on the sealing plate 110 along the forward direction of the inspection robot 10. The number of the first flange structures 115 is two, and the two first flange structures 115 are arranged in a one-to-one correspondence with the two fourth communication ports 114. The number of the positioning antennas 514 is two, and the two positioning antennas 514 are arranged in a one-to-one correspondence with the two first flange structures 115. The number of the signal lights 515 is two, and the two signal lights 515 are arranged in a one-to-one correspondence with the two first flange structures 115.

[0289] Optionally, combined Figure 4As shown, when the sensing mechanism 500 includes the positioning antenna 514, the sensing mechanism 500 also includes a GPS controller 516. The GPS controller 516 is located in the installation cavity 102 and is in communication connection with the positioning antenna 514 and the industrial computer 200.

[0290] The GPS controller 516 is a GPS controller 516 based on the Global Positioning System (GPS) technology, and is used to process GPS signals. The GPS controller 516 can receive signals from GPS satellites, and calculate the precise position, speed, time and other information of the receiver through an algorithm. In this embodiment, the GPS controller 516 is located in the mounting cavity 102, and is communicatively connected with the positioning antenna 514, so that the GPS controller 516 can receive the GPS signal from the positioning antenna 514, and process and calculate it. In this embodiment, when the box assembly 100 includes a mounting plate 157, the GPS controller 516 is arranged on the mounting plate 157. By introducing the GPS controller 516 and the positioning antenna 514, the positioning accuracy of the inspection robot 10 is improved, so as to accurately track and locate the inspection robot 10 in a complex environment.

[0291] In some embodiments, in combination Figures 1 to 4 As shown, there are two positioning antennas 514 , and both positioning antennas 514 are communicatively connected to the GPS controller 516 .

[0292] In some embodiments, in combination Figures 1 to 4 As shown, the communication mechanism 300 includes an omnidirectional antenna 301. The omnidirectional antenna 301 is disposed on the first flange structure 115, and the omnidirectional antenna 301 is used to communicate with the outside to transmit data.

[0293] The omnidirectional antenna 301 is an antenna that can radiate and receive radio waves uniformly in all directions. In this embodiment, the omnidirectional antenna 301 is arranged on the first flange structure 115 to ensure that the inspection robot 10 can receive and send signals in all directions and perform stable data transmission with the outside. By introducing the omnidirectional antenna 301, the communication capability of the inspection robot 10 is enhanced, and the data transmission efficiency and stability of the inspection robot 10 are improved.

[0294] In some embodiments, in combination Figures 1 to 4 As shown, the number of the first flange structures 115 is two, the number of the omnidirectional antennas 301 is two, and the two omnidirectional antennas 301 are arranged in a one-to-one correspondence with the two first flange structures 115 .

[0295] Optionally, combined Figure 4As shown, the communication mechanism 300 also includes a wireless communication module 302. The wireless communication module 302 is located in the installation cavity 102, and is connected to the omnidirectional antenna 301 and the industrial computer 200. The wireless communication module 302 is a component responsible for wireless data transmission, and generally includes a radio frequency circuit, a baseband processing circuit, and the like. In this embodiment, the wireless communication module 302 is installed in the installation cavity 102, and is connected to the omnidirectional antenna 301 and the industrial computer 200, so that the inspection robot 10 can transmit data with external devices through various wireless protocols (such as Wi-Fi, Bluetooth, etc.). By introducing the wireless communication module 302 and the omnidirectional antenna 301, the wireless communication capability of the inspection robot 10 is enhanced. The wireless communication module 302 can handle various wireless protocols to achieve efficient data transmission with external devices. The omnidirectional antenna 301 ensures that the inspection robot 10 can communicate in all directions without being restricted by direction and position.

[0296] In a specific application, the wireless communication module 302 includes multiple connection ports (not shown in the figure), such as a POE (Power Over Ethernet) port and two antenna ports. The industrial computer 200 is electrically connected to the wireless communication module 302 via the POE port. Two wires pass through the two fourth communication ports 114 to connect the two omnidirectional antennas 301 and the two antenna ports.

[0297] Optionally, combined Fig.17 As shown, the first flange structure 115 includes a first extension tube 116 and a first docking flange 117. Extending from the sealing surface 111 toward the external surface 112, a first extension tube 116 is formed on the external surface 112 along the circumference of the fourth connecting port 114, and the first extension tube 116 is in the shape of a tube with an opening. At the opening of the end of the first extension tube 116 away from the external surface 112, a first docking flange 117 is formed that extends from the circumferential edge of the opening toward the radial outside of the opening. In this embodiment, the sealing plate 110, the first extension tube 116 and the first docking flange 117 are integrally formed to enhance the structural strength of the sealing plate 110 and improve the structural stability of the box assembly 100.

[0298] Optionally, combined Figures 1 to 4 As shown, the box assembly 100 further includes a first mounting base 118 . The first mounting base 118 is sleeved on the first flange structure 115 . The positioning antenna 514 and / or the signal light 515 and / or the omnidirectional antenna 301 are disposed on the first mounting base 118 .

[0299] In this embodiment, the positioning antenna 514 and / or the signal light 515 and / or the omnidirectional antenna 301 are arranged on the first mounting base 118, providing a stable mounting platform for the positioning antenna 514 and / or the signal light 515 and / or the omnidirectional antenna 301, and ensuring the stable operation of the positioning antenna 514 and / or the signal light 515 and / or the omnidirectional antenna 301. The first mounting base 118 is set on the first flange structure 115 to seal the opening of the first flange structure 115, so as to prevent external liquid, gas or solid particles from entering the installation cavity 102 from the opening of the first flange structure 115, ensure that the components in the installation cavity 102 are in a good working environment, improve the airtightness of the box assembly 100, enable the inspection robot 10 to cope with various climate conditions such as rain and snow, and ensure stable operation under complex environmental conditions.

[0300] Optionally, combined Fig.31 As shown, the first mounting base 118 includes a second shell 119, and the second shell 119 is sleeved on the first flange structure 115. The second shell 119 includes a mounting groove 122, and the positioning antenna 514 and / or the signal light 515 and / or the omnidirectional antenna 301 are arranged in the mounting groove 122. The mounting groove 122 is provided with a wire hole 159. When the second shell 119 is sleeved on the first flange structure 115, the wire hole 159 is connected with the opening of the first flange structure 115, so that the wire harness required for the positioning antenna 514 and / or the signal light 515 and / or the omnidirectional antenna 301 can be connected with the corresponding components arranged inside the mounting cavity 102 through the wire hole 159 and the opening of the first flange structure 115. In this embodiment, the second shell 119 is sleeved on the first flange structure 115 to close the opening of the first flange structure 115, and the wire hole 159 is provided to ensure the through connection of the wire harness.

[0301] Optionally, combined Fig.31 As shown, when the first flange structure 115 is set on the second shell 119, the first butt flange 117 and the second shell 119 are in contact with each other. In this embodiment, when the first flange structure 115 is set on the second shell 119, the first butt flange 117 and the second shell 119 are in contact with each other, thereby enhancing the connection strength between the second shell 119 and the first flange structure 115, and further enhancing the airtightness of the box assembly 100.

[0302] Optionally, combined Fig.31As shown, the second housing 119 includes a connection groove 123, and the connection groove 123 is located on the side adjacent to the top where the mounting groove 122 is located. A third connection hole 124 is provided at the bottom of the connection groove 123. In this embodiment, by adding the connection groove 123 and the third connection hole 124, the second housing 119 can be firmly connected to the sealing plate 110 by using fasteners (such as screws, bolts, etc.), thereby improving the structural stability and reliability of the box assembly 100.

[0303] Optionally, combined Fig.31 As shown, the second shell 119 is integrally processed. The second shell 119 includes a fastening surface 120 in contact with the outside and an inner cavity surface 121 arranged opposite to the fastening surface 120. At the top of the second shell 119, a groove is formed on the side of the fastening surface 120, extending from the fastening surface 120 toward the inner cavity surface 121, to form a mounting groove 122. At the side surface adjacent to the top where the mounting groove 122 is located, a groove is formed on the side of the fastening surface 120, extending from the fastening surface 120 toward the inner cavity surface 121, to form a connecting groove 123. In this embodiment, the mounting groove 122 and the connecting groove 123 are integrally formed on the second shell 119, which improves the structural strength of the second shell 119, thereby further improving the structural stability of the box assembly 100.

[0304] Optionally, combined Fig.31 As shown, there are multiple connection grooves 123, and the multiple connection grooves 123 are spaced apart and distributed on the side of the second shell 119. A third connection hole 124 is provided at the bottom of each connection groove 123. In this embodiment, by increasing the number of connection grooves 123 and the third connection holes 124, the connection strength between the second shell 119 and the sealing plate 110 is improved, thereby further improving the structural stability of the box assembly 100.

[0305] In some embodiments, in combination Fig.16 As shown, there are multiple first flange structures 115 and multiple first mounting bases 118 , and the multiple first mounting bases 118 and the multiple first flange structures 115 are arranged in a one-to-one correspondence.

[0306] Optionally, combined Fig.32 and Fig.33 As shown, the box 101 further includes a first detection port 105 and a second flange structure 106. The second flange structure 106 is distributed along the circumference of the first detection port 105 outside the box 101 for installing the sensing mechanism 500. The sensing end of the sensing mechanism 500 is located at the first detection port 105.

[0307] In this embodiment, the sensing mechanism 500 can be installed in the installation cavity 102 so that the detection end is located at the first detection port 105. A second flange structure 106 is provided on the outer side of the box body 101 along the circumference of the first detection port 105 to provide a stable support platform for the detection end of the sensing mechanism 500, thereby ensuring the stability and reliability of the component during operation.

[0308] Optionally, combined Fig.32 and Fig.33 As shown, along the forward direction of the inspection robot 10, the first detection port 105 is located on the side of the box 101 in the forward direction of the inspection robot 10. In this embodiment, by limiting the first detection port 105 to be located on the side of the box 101 in the forward direction of the inspection robot 10, the sensing mechanism 500 can detect the environment or industrial equipment in the forward direction of the inspection robot 10 through the first detection port 105.

[0309] Optionally, combined Fig.33 As shown, the second flange structure 106 includes a second extension tube 107. Extending from the inner side of the box body 101 toward the outer side, the second extension tube 107 is formed on the outer side of the box body 101 along the circumference of the first detection port 105, and the second extension tube 107 is in the shape of a tube with an opening. Among them, the detection end of the sensing mechanism 500 located in the installation cavity 102 passes through the first detection port 105 and is partially or entirely located in the second extension tube 107. In this embodiment, the second flange structure 106 includes the second extension tube 107, and the detection end of the sensing mechanism 500 passes through the first detection port 105 and is partially or entirely located in the second extension tube 107, thereby providing a stable support platform for the detection end of the sensing mechanism 500.

[0310] Optionally, combined Fig.33 As shown, the second flange structure 106 also includes a second butt flange 108. At the opening of the second extension tube 107 at one end away from the box body 101, a second butt flange 108 extending from the circumferential edge of the opening toward the radial outer side of the opening is formed. In this embodiment, the second extension tube 107 and the second butt flange 108 are integrally formed to improve the structural strength of the second flange structure 106, thereby further improving the structural stability of the box body assembly 100.

[0311] In some embodiments, in combination Figure 6 , Fig.32 and Fig.33As shown, the sensing mechanism 500 includes a radar component 517, and the detection end of the radar component 517 passes through the first detection port 105 and is located in the second flange structure 106. In this embodiment, the radar component 517 detects obstacles and / or industrial equipment information in the monitoring area, such as the distance to the obstacles and / or industrial equipment. By passing the detection end of the radar component 517 through the first detection port 105 and being located in the second flange structure 106, it is ensured that the detection end of the radar component 517 can stably point to the area to be monitored, thereby improving the accuracy of monitoring.

[0312] Optionally, combined Figure 6 , Fig.32 and Fig.33 As shown, the radar assembly 517 includes a single-point laser radar (not shown in the figure) and / or an ultrasonic radar 520 , and the detection end of the single-point laser radar and / or the ultrasonic radar 520 passes through the first detection port 105 and is located in the second flange structure 106 .

[0313] The single-point laser radar detects the position, speed and other characteristic quantities of the target by emitting a laser beam, and has the advantages of high precision and being unaffected by environmental factors such as light. The ultrasonic radar 520 emits ultrasonic waves outward through an ultrasonic transmitter, and then the receiver receives the reflected ultrasonic waves, and measures the distance by calculating the time difference. It has the characteristics of low cost and good waterproof and dustproof effects. In this embodiment, a single-point laser radar and / or ultrasonic radar 520 are selected to form a radar component 517, so as to facilitate the detection of obstacles and / or industrial equipment information in the monitoring area, such as the distance to obstacles and / or industrial equipment.

[0314] In some embodiments, in combination Figure 4 and Figure 6 As shown, when the radar assembly 517 includes an ultrasonic radar 520, the sensing mechanism 500 further includes an ultrasonic GPS controller 516, which is located in the installation cavity 102 and is in communication connection with the ultrasonic radar 520. In this embodiment, the ultrasonic GPS controller 516 is in communication connection with the ultrasonic radar 520, and is used to control the transmission and reception process of the ultrasonic radar 520, process the received signal, and convert it into information that can be used for perception and decision-making, so as to detect obstacles and / or industrial equipment information in the monitoring area.

[0315] Optionally, combined Figure 6 , Fig.34 and Fig.35As shown, the box assembly 100 also includes a third mounting assembly 245. The third mounting assembly 245 includes a second detection port 247, and the third mounting assembly 245 is arranged on the box 101, and the second detection port 247 is connected to the first detection port 105. The detection end of the radar assembly 517 passes through the first detection port 105 and the second flange structure 106 and is located at the second detection port 247. In this embodiment, the third mounting assembly 245 is arranged on the box 101, and is sleeved on the second flange structure 106, and the second detection port 247 is connected to the first detection port 105. The detection end of the radar assembly 517 passes through the first detection port 105 and the second flange structure 106 and is located at the second detection port 247 to ensure that the radar assembly 517 stably detects the monitoring area.

[0316] Optionally, combined Figure 6 , Fig.34 and Fig.35 As shown, the third installation assembly 245 includes a first housing 246. The first housing 246 includes a second detection port 247 and a third detection port 248 that are spaced apart. The first housing 246 is disposed on the housing 101, and the second detection port 247 is connected to the first detection port 105. The first housing 246 and the housing 101 together define a first cavity 249, and the first cavity 249 is used to install the sensing mechanism 500, and the sensing end of the sensing mechanism 500 located in the first cavity 249 is located at the third detection port 248.

[0317] In this embodiment, the first shell 246 is disposed on the box body 101 and sleeved on the second flange structure 106. The first shell 246 and the box body 101 jointly define a first cavity 249 for installing the sensing mechanism 500, providing a good protective environment for the sensing mechanism 500, protecting the sensing mechanism 500 from dust, moisture and other harmful substances in the external environment, thereby improving the durability and reliability of the inspection robot 10. The second detection port 247 and the third detection port 248 provided on the first shell 246 provide the sensing mechanism 500 with multiple monitoring and sensing channels. The multi-detection port design enables the inspection robot 10 to more comprehensively cover the area to be monitored, thereby improving the efficiency and accuracy of monitoring.

[0318] In a specific application, combined with Figure 6 , Fig.34 and Fig.35 As shown, the sensing mechanism 500 includes a single-point laser radar and an ultrasonic radar 520. The single-point laser radar is arranged in the first cavity 249, and the detection end of the single-point laser radar is located at the third detection port 248. The ultrasonic radar 520 is located in the installation cavity 102, and the detection end of the ultrasonic radar 520 passes through the first detection port 105 and the second flange structure 106 and is located at the second detection port 247.

[0319] Optionally, combined Figure 6 , Fig.34 and Fig.35 As shown, there are two third detection ports 248, and the two third detection ports 248 are respectively located on opposite sides of the second detection port 247. There are two single-point laser radars, and the two single-point laser radars and the two third detection ports 248 are arranged in a one-to-one correspondence. In this embodiment, the detection capability of the inspection robot 10 is enhanced by increasing the number of third detection ports 248 and single-point laser radars.

[0320] Optionally, the third mounting assembly 245 further includes a second connector 143. The second connector 143 is disposed in the housing 101 and located in the first cavity 249, and is used to install the sensing mechanism 500. In this embodiment, the second connector 143 is disposed in the housing 101 and located in the first cavity 249, and is used to install the sensing mechanism 500, so as to ensure that the sensing mechanism 500 can be firmly fixed in the first cavity 249, avoid monitoring errors caused by shaking or movement, and improve the accuracy and reliability of the inspection robot 10.

[0321] Optionally, combined Fig.34 and Fig.35 As shown, the first shell 246 includes a first end surface 252 away from the box body 101 , and the second detection port 247 and the third detection port 248 are distributed at intervals on the first end surface 252 .

[0322] Optionally, combined Fig.34 and Fig.35 As shown, the first shell 246 also includes a lower surface 251 located at the bottom of the first shell 246 along the height direction of the box body 101. The lower surface 251 is provided with a plurality of weight-reducing holes 604. In this embodiment, by providing a plurality of weight-reducing holes 604 on the lower surface 251, the weight of the inspection robot 10 is reduced, thereby reducing the energy consumption of the inspection robot 10.

[0323] Optionally, combined Fig.34 and Fig.35 As shown, the first housing 246 further includes an upper surface 250, a second end surface 253, a third end surface 254 and a second extended flange 255. The upper surface 250 is arranged opposite to the lower surface 251, and the second end surface 253 and the third end surface 254 are arranged adjacent to the upper surface 250 and the first end surface 252. The second extended flange 255 is arranged along the circumference of the upper surface 250, the second end surface 253 and the third end surface 254, and the second extended flange 255 is connected to the box body 101.

[0324] In this embodiment, the upper surface 250, the lower surface 251, the first end surface 252, the second end surface 253, the third end surface 254 and the second extended flange 255 are integrally formed to improve the structural strength of the first shell 246. By providing the second extended flange 255 to be connected to the box body 101, the connection surface with the box body 101 is increased, thereby improving the connection strength between the first shell 246 and the box body 101. By improving the structural strength of the first shell 246 and the connection strength between the first shell 246 and the box body 101, the structural stability of the box assembly 100 is further improved.

[0325] In some embodiments, in combination Fig.34 and Fig.35 As shown, there are two first detection ports 105, and the two first detection ports 105 are respectively located on two opposite sides of the box body 101 along the forward direction of the inspection robot 10. There are two second flange structures 106, and the two second flange structures 106 are arranged in a one-to-one correspondence with the two first detection ports 105. There are two third mounting components 245, and the two third mounting components 245 are arranged in a one-to-one correspondence with the two first detection ports 105. There are two radar components 517, and the two radar components 517 are arranged in a one-to-one correspondence with the two first detection ports 105.

[0326] In this embodiment, the first detection ports 105 are respectively set on two opposite sides of the box body 101 along the forward direction of the inspection robot 10, and the number of the second flange structures 106, the third mounting components 245 and the radar components 517 are increased to correspond one to one with the two first detection ports 105, so that the radar component 517 can detect the environment or industrial equipment in the forward direction, thereby improving the monitoring range of the inspection robot 10.

[0327] Optionally, combined Figure 3 As shown, the sensing mechanism 500 includes a microphone 522. The microphone 522 is disposed in the box 101 and is in communication connection with the industrial computer 200.

[0328] In this embodiment, the microphone 522 is used to capture the sound information in the environment around the inspection robot 10. Since the sound of industrial equipment in normal operation and abnormal operation is different, by capturing the sound information in the environment around the inspection robot 10, the operating status of the industrial equipment can be detected, thereby improving the functionality of the inspection robot 10.

[0329] Exemplarily, a method for detecting abnormalities of industrial equipment through sound is proposed in the related art, including: installing a sound collection device near the equipment to collect the sound of equipment operation; using a feature extractor to extract sound feature options selected according to the parameter function configuration, and calculating the eigenvalues ​​of the audio data in the time domain, frequency domain and cepstrum domain for training or discrimination; saving the sound feature data generated by the feature extractor through a feature database; using a model trainer to perform model training on the training database in the feature database according to the model algorithm and parameters selected by the parameter function configuration, and saving the trained model into a model library; using a model determiner to load the model library data to construct a model, and when the current operating state is a discrimination state, determining whether the current sound (determined according to the sound feature items after the feature extractor) is normal; presenting the prediction results of the model to the user, and then collecting the user's feedback data, which is then used to train the model to form a closed-loop system.

[0330] In some embodiments, in combination Figure 3 As shown, along the forward direction of the inspection robot 10, the microphone 522 is located on the side of the box 101 in the forward direction of the inspection robot 10. In this embodiment, by limiting the microphone 522 to be located on the side of the box 101 in the forward direction of the inspection robot 10, the microphone 522 can focus on capturing the sound information in the forward direction of the inspection robot 10, thereby improving the detection accuracy of the inspection robot 10.

[0331] Optionally, combined Figure 3 As shown, the box assembly 100 further includes a shielding member 256. The shielding member 256 is disposed on the box 101 and is located above the microphone 522 along the height direction of the box 101. In this embodiment, the shielding member 256 is provided to shield and protect the microphone 522, thereby preventing the microphone 522 from being disturbed or damaged by the external environment, thereby improving the reliability and service life of the inspection robot 10.

[0332] Optionally, combined Figure 3 As shown, the shielding member 256 is in the shape of an arc plate. In this embodiment, by limiting the shielding member 256 to be in the shape of an arc plate, the shielding member 256 is used to shield and protect the microphone 522, while reducing the attenuation and distortion of the sound during the transmission process, so that the microphone 522 can capture the sound information more clearly, improve the quality and accuracy of the sound collection, and thus improve the detection accuracy of the inspection robot 10.

[0333] In some embodiments, the material of the box assembly 100 is aluminum alloy. Aluminum alloy has the advantages of light weight, high strength, corrosion resistance, and easy processing. In this embodiment, the box assembly 100 is made of aluminum alloy to ensure the stability and durability of the box assembly 100.

[0334] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the inspection robot 10 further includes a power supply mechanism 700. The power supply mechanism 700 is disposed in the box 101 and is electrically connected to the communication mechanism 300, the motion mechanism 400, and the sensing mechanism 500. In this embodiment, the power supply mechanism 700 is introduced to provide power for the movement of the inspection robot 10 while ensuring the normal operation of functions such as communication and sensing, thereby ensuring that the inspection task of the inspection robot 10 can be successfully completed.

[0335] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the power supply mechanism 700 includes a battery pack 701. The battery pack 701 is located in the installation cavity 102 and is electrically connected to the communication mechanism 300, the motion mechanism 400 and the sensing mechanism 500. The battery pack 701, also known as a battery module or Battery pack, is a battery system that combines multiple battery cells in a certain configuration and connection method. In this embodiment, the battery pack 701 is used to provide sufficient voltage and current to support the operation of the inspection robot 10, provide power for the movement of the inspection robot 10, and ensure the normal operation of functions such as communication and perception.

[0336] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the power supply mechanism 700 also includes a wireless charging component 702. The wireless charging component 702 is disposed in the box 101 and is electrically connected to the battery pack 701. In this embodiment, the wireless charging component 702 is electrically connected to the battery pack 701 for charging the battery pack 701. By providing the wireless charging component 702, the inspection robot 10 does not need to manually connect a charging line or cable when charging, which simplifies the charging process and improves the convenience of using the inspection robot 10.

[0337] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the wireless charging component 702 includes a transmitting component (not shown in the figure) and a receiving component 703. The receiving component 703 is arranged in the case 101 and is electrically connected to the battery pack 701. Among them, when the transmitting component and the receiving component 703 are docked, the receiving component 703 can generate current to charge the battery pack 701. In this embodiment, the transmitting component is arranged in the charging area or base station of the inspection robot 10, and is used to convert electrical energy into electromagnetic energy and transmit it to the receiving component 703 through space. The receiving component 703 is arranged in the case 101 and is electrically connected to the battery pack 701. When the receiving component 703 is close to the transmitting component, the receiving component 703 will sense the magnetic field generated by the transmitting component and generate an induced current, thereby realizing the charging of the battery pack 701.

[0338] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the transmitting component includes a transmitting end controller (not shown in the figure) and a transmitting coil (not shown in the figure) that are communicatively connected. The receiving component 703 includes a receiving end controller 704 and a receiving coil 705 that are communicatively connected. The receiving end controller 704 is located in the installation cavity 102, and the receiving coil 705 is disposed in the box 101 and is electrically connected to the battery pack 701. When the transmitting coil and the receiving coil 705 are docked, the receiving coil 705 can generate current to charge the battery pack 701.

[0339] In this embodiment, the transmitter controller is used to control the start, progress and end of the entire wireless charging process to ensure the stability and safety of the wireless charging process. The transmitting coil is responsible for converting electrical energy into electromagnetic energy and transmitting it to the receiving coil 705 through space. The receiving controller 704 is located in the installation cavity 102 of the inspection robot 10, and is connected to the receiving coil 705 for communication. It is responsible for receiving instructions and information sent by the transmitter controller and controlling the charging process of the receiving coil 705. At the same time, the receiving controller 704 can also monitor the charging status of the battery pack 701 to ensure that it is not overcharged or over-discharged. The receiving coil 705 is arranged outside the box 101 of the inspection robot 10 and is electrically connected to the battery pack 701. When the receiving coil 705 is close to the transmitting coil, the receiving coil 705 will sense the magnetic field generated by the transmitting coil and generate an induced current to charge the battery pack 701.

[0340] Optionally, combined Figure 1 and Figure 3 As shown, the wireless charging assembly 702 further includes a waterproof plug 706 . The input end of the waterproof plug 706 is electrically connected to the receiving coil 705 , and the output end of the waterproof plug 706 is electrically connected to the battery pack 701 .

[0341] In this embodiment, a waterproof plug 706 is introduced to connect the wiring harness and the receiving coil 705 to enhance the safety of the wireless charging component 702. Even in unexpected situations, such as splashing water or being wet by rain, it can ensure that the charging circuit will not be damaged, thereby avoiding potential safety hazards. The waterproof plug 706 enables the wireless charging component 702 to be applied to more outdoor or humid environments, ensuring the stability and safety of wireless charging, and further enables the inspection robot 10 to cope with various climatic conditions such as rain and snow, ensuring stable operation under complex environmental conditions.

[0342] Optionally, combined Figure 1 , Figure 3 and Fig.32As shown, the box 101 includes a charging portion 109 for mounting the receiving coil 705. Extending from the outer side surface of the box 101 toward the inner side surface, a groove is formed on the outer side surface of the box 101 to form the charging portion 109. In this embodiment, the charging portion 109 is integrally formed on the box 101 to improve the structural strength of the box 101 and ensure the structural stability of the box assembly 100.

[0343] In some embodiments, the box 101 is provided with a plurality of wire holes 159 according to actual needs to ensure that the wire harness or electrical connector can be connected to the corresponding components through the wire holes 159. For example, the charging unit 109 is provided with a wire hole 159, the waterproof plug 706 is disposed in the wire hole 159, the input end of the waterproof plug 706 is electrically connected to the receiving coil 705, and the output end of the waterproof plug 706 is electrically connected to the battery pack 701.

[0344] Optionally, combined Figure 3 and Figure 4 As shown, the power supply mechanism 700 also includes a power distribution module 707. The power distribution module 707 is located in the installation cavity 102, the input end of the power distribution module 707 is electrically connected to the battery pack 701, and the output end of the power distribution module 707 is electrically connected to the communication mechanism 300, the motion mechanism 400 and the sensing mechanism 500. In this embodiment, the power distribution module 707 is used to effectively manage and distribute the electric energy provided by the battery pack 701, dynamically adjust the distribution ratio of the electric energy, ensure that the electric energy is fully utilized, avoid waste, and achieve optimal utilization of energy. By introducing the power distribution module 707, it is ensured that the communication mechanism 300, the motion mechanism 400 and the sensing mechanism 500 can normally obtain the required power supply. Exemplarily, the battery pack 701 provides 48V current, and the power distribution module 707 can convert the 48V current input into 24V or 12V current output to each mechanism to ensure the stable operation of each mechanism.

[0345] Optionally, combined Figure 4 As shown, the power supply mechanism 700 further includes a wiring board 708. The wiring board 708 is located in the installation cavity 102, and the wiring board 708 includes a plurality of wiring terminals, which are electrically connected to the power distribution module 707, the communication mechanism 300, the motion mechanism 400 and the sensing mechanism 500 respectively.

[0346] In this embodiment, the wiring board 708 is used to distribute the electric energy output by the power distribution module 707 to the communication mechanism 300, the motion mechanism 400 and the sensing mechanism 500. The wiring board 708 is provided with a plurality of wiring terminals, which are electrically connected to the power distribution module 707, the communication mechanism 300, the motion mechanism 400 and the sensing mechanism 500, respectively, to ensure that the electric energy can be stably and efficiently transmitted to each mechanism. By setting the wiring board 708, the integration of the wiring harness is achieved, and too many wiring harnesses are avoided from being set in the installation cavity 102, resulting in a chaotic structure, thereby improving the convenience and safety of the structural maintenance of the inspection robot 10.

[0347] In some embodiments, the weight of the inspection robot 10 is less than or equal to 150 kg. The inspection robot 10 is the main executor of the inspection task. In this embodiment, the weight of the inspection robot 10 is limited to be less than or equal to 150 kg, so that the inspection robot 10 can be moved and deployed in a complex and changeable industrial environment, thereby improving the inspection efficiency.

[0348] In some embodiments, in combination Fig.36 As shown, an industrial inspection system 1 is provided, including the inspection robot 10 as described in the above embodiment. In this embodiment, the industrial inspection system 1 includes the inspection robot 10 as described in the above embodiment, so the technical effects possessed by the inspection robot 10 in the above embodiment are also possessed by the embodiments of the present disclosure, and will not be repeated here.

[0349] Optionally, the industrial inspection system 1 further includes a wireless base station. The wireless base station is communicatively connected to the communication mechanism 300 of the inspection robot 10 .

[0350] In this embodiment, the wireless base station serves as a communication bridge between the inspection robot 10 and the monitoring center, and is responsible for receiving the data and images transmitted by the inspection robot 10 and forwarding them to the monitoring center. At the same time, the wireless base station is responsible for sending control instructions and scheduling information to the inspection robot 10 to ensure the efficient operation of the inspection robot 10.

[0351] In some embodiments, the radio frequency part of the wireless base station (Access Point, AP) is based on MIMO (Multiple-Input Multiple-Output) technology, with a transmission power of 1000mW and a receiving sensitivity of -96dB. The wireless base station has a built-in high-gain antenna to achieve Mesh networking. Mesh networking, or "wireless mesh network", is a multi-node, centerless, self-organizing wireless multi-hop communication network.

[0352] Optionally, there are multiple wireless base stations, and the multiple wireless base stations are arranged at intervals. The industrial inspection system 1 also includes a switch, which is communicatively connected with the multiple wireless base stations.

[0353] In this embodiment, multiple wireless base stations are set up and arranged at intervals to ensure that the inspection robot 10 can maintain good communication connection in the entire inspection area and achieve full communication coverage. The switch, as the core device for data transmission, realizes communication connection with multiple wireless base stations, is responsible for centralizing the inspection data received by the wireless base stations, performing necessary processing and data exchange, and then transmitting it to the monitoring center. The setting of multiple wireless base stations and switches ensures the stability and security of data transmission of the inspection robot 10, and avoids equipment failure or production interruption caused by communication failure.

[0354] Optionally, the industrial inspection system 1 further includes electronic equipment. The electronic equipment is communicatively connected to the switch.

[0355] In this embodiment, the electronic device is connected to the switch for communication, and can receive data from the inspection robot 10, and the technician processes or responds as needed. Exemplarily, the electronic device includes but is not limited to a mobile phone, a tablet, a personal computer, etc.

[0356] It should be noted that the input and output ends of each component proposed in the embodiments of the present disclosure can be understood as the initial component and the terminal component through which kinetic energy, data or motion passes during the transmission process in the component. Based on the different specific structures of each component and the different connection forms between the components, the specific forms of the input and output ends are different, including but not limited to gears, bearings, rotating shafts, connecting rods, wires, contacts or interfaces.

[0357] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A patrol robot, characterized in that: include: Box; An industrial computer is arranged in the box; A communication mechanism, which is arranged in the box and is connected to the industrial computer for communication to transmit data; The motion mechanism is arranged at the bottom of the box along the height direction of the box and is connected to the industrial computer for communication. The motion mechanism can receive the signal transmitted by the industrial computer to drive the inspection robot to move; The sensing mechanism is arranged in the box and is connected to the industrial computer for communication. The sensing mechanism is used to collect data from the surrounding area and transmit the collected data to the industrial computer.

2. The inspection robot according to claim 1, characterized in that: Sports organizations include: The driving mechanism is arranged at the bottom of the box along the height direction of the box and is connected to the industrial computer for driving the inspection robot to move; The parking mechanism is arranged at the bottom of the box body along the height direction of the box body. The output end of the parking mechanism is connected to the driving mechanism and is configured to park the inspection robot when it stops moving.

3. The inspection robot according to claim 2, characterized in that: The sports body also includes: The switching mechanism is arranged at the bottom of the box body along the height direction of the box body and is connected with the driving mechanism.

4. The inspection robot according to any one of claims 1 to 3, characterized in that: Also includes: A driving chassis is arranged at the bottom of the box body along the height direction of the box body; Wherein, the motion mechanism is arranged on the driving chassis.

5. The inspection robot according to claim 4, characterized in that: The drive chassis includes: A chassis bracket is arranged at the bottom of the box body along the height direction of the box body, the chassis bracket comprises a front end and a rear end arranged opposite to each other, and the motion mechanism is arranged on the chassis bracket and located between the front end and the rear end; The cleaning mechanisms are respectively arranged at the front end and the rear end of the chassis bracket, and are used to clean the ground or the track in the moving direction of the inspection robot.

6. The inspection robot according to claim 5, characterized in that: Sensing agencies include: Anti-collision magnetic induction strips are respectively arranged at the front end and the rear end of the chassis bracket and are extended along the width direction of the chassis bracket. The anti-collision magnetic induction strips are communicatively connected with the motion mechanism; and / or, The positioning switch is arranged on the chassis bracket.

7. The inspection robot according to any one of claims 1 to 3, characterized in that: The box components include: The box body comprises an installation cavity, a first opening and a second opening communicating with the installation cavity; A sealing plate, arranged at the first opening of the box body; A movable plate, movably arranged on the box body, used for opening or closing the second opening; The sealing strips are respectively arranged between the box body and the sealing plate, and between the box body and the movable plate, and are arranged along the circumference of the opening.

8. The inspection robot according to claim 7, characterized in that: The box assembly further includes a second mounting assembly, which is arranged on the sealing plate; the sensing mechanism includes an image acquisition device, which is arranged on the second mounting assembly; and / or, The sealing plate includes a first flange structure; the sensing mechanism includes a positioning antenna and / or a signal light, which are arranged on the first flange structure; and / or the communication mechanism includes an omnidirectional antenna, which is arranged on the first flange structure for communicating with the outside to transmit data.

9. The inspection robot according to any one of claims 1 to 3, characterized in that: Communications agencies include: An omnidirectional antenna, disposed on the sealing plate, for communicating with the outside to transmit data; The wireless communication module is arranged in the box and is communicatively connected with the omnidirectional antenna.

10. The inspection robot according to any one of claims 1 to 3, characterized in that: The sensing mechanism includes a radar component, and the radar component is arranged in the box; and / or, The sensing mechanism includes a pickup, which is arranged in the box and is communicatively connected with the industrial computer; and / or, The sensing mechanism includes a microphone, which is arranged in the box and is communicatively connected with the industrial computer; the box assembly also includes a shielding member, which is arranged in the box and is located above the microphone along the height direction of the box.

11. The inspection robot according to any one of claims 1 to 3, characterized in that: Also includes: The power supply mechanism is arranged in the box body and is electrically connected to the communication mechanism, the motion mechanism and the sensing mechanism.

12. An industrial inspection system, characterized in that: include: The inspection robot according to any one of claims 1 to 11.

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