Guide rail type inspection robot platform for key areas and high-risk areas of thermal power plant

Abstract

The invention discloses a thermal power plant key area and high-risk area guide rail type inspection robot platform which comprises a guide rail assembly, the guide rail assembly comprises two sets of supporting strips and a set of transverse rods, and a robot body is arranged above the guide rail assembly. The robot body comprises an equipment box, an inspection device, a wireless transceiver and a battery pack used for providing electric energy. The inspection device is installed on the outer side of the equipment box. The lower side of the equipment box is provided with a sleeve, the sleeve is slidably arranged on the cross rod in a sleeving mode, the side face of the equipment box is provided with an installation box, the installation box is provided with a moving assembly, and the moving assembly is located above the guide rail assembly and matched with the two sets of supporting strips; the side face of the equipment box is provided with an angle adjusting assembly used for driving the inspection device to conduct vertical angle adjustment, the platform can conveniently conduct detection on the position under the platform, the bottom has stable supporting performance, and the box body of the equipment is not prone to shaking in the later detection period.

Description

Technical Field

[0001] The invention belongs to the technical field of inspection robots and relates to a rail-type inspection robot platform for key areas and high-risk areas of a thermal power plant. Background Art

[0002] The key areas and high-risk areas of thermal power plants mainly include the following parts: boiler room and turbine room, control room, oil tank area and ammonia area, hydrogen supply station and battery room, inflammable and explosive goods warehouse, etc. These areas are the core production areas of thermal power plants or store inflammable and explosive goods. Once a fire occurs, the consequences will be disastrous. Therefore, these areas must be equipped with automatic fire extinguishing systems and implement a 24-hour uninterrupted patrol system to ensure that the fire can be discovered and effectively controlled at the first time.

[0003] There are currently two types of environmental monitoring systems for key areas and high-risk areas in thermal power plants. One is to arrange infrared thermal imagers at a certain distance in the key areas and high-risk areas of the thermal power plant, and use multiple groups of infrared thermal imagers to detect the environment in the area to promptly detect abnormalities and deal with them. Another is to install guide rails and walking mechanisms in the key areas and high-risk areas of the thermal power plant, carry infrared thermal imagers and cameras on the walking mechanisms, and use a group of environmental detection devices to patrol the key areas and high-risk areas of the thermal power plant, which is more cost-effective.

[0004] Publication No. CN210850242U discloses a digital coal yard rail inspection robot platform, the robot platform includes a robot body, a temperature measuring infrared thermal imager and a laser scanner equipment box are installed at the lower part of the robot body through an equipment box support frame, and a control frame is arranged on the robot body; the control frame is movably installed on the T-shaped guide rail, and a guide rail bracket fixing plate is arranged on the side of the T-shaped guide rail, and the guide rail bracket fixing plate is installed on the side of the coal yard horseway through the guide rail bracket fixing hole thereon, and a wireless AP antenna is installed on the upper part of the robot body; a first guide rail running wheel and a second guide rail running wheel are installed at the lower part of the control frame, a speed reduction mechanism is installed at the lower part of the control frame, and the rotating shaft installed on the speed reduction mechanism is connected to the first guide rail running wheel and the second guide rail running wheel, and a first automatic charging connector and a second automatic charging connector are installed on both sides of the control frame; a wireless AP module is installed at the lower part of the wireless AP antenna in the control frame, and a control main board, a power board, a lithium battery pack, a hollow cup DC motor and a motor driver are also arranged in the control frame. The technology uses a rail-type inspection robot platform equipped with a laser scanner and a temperature-measuring dual-spectrum infrared thermal imager to monitor the environment and automatically sort the coal. This can reduce the number of laser scanners and temperature-measuring dual-spectrum infrared thermal imagers, reduce the difficulty of software control algorithms, save investment costs, facilitate on-site system maintenance, and improve the intelligence level of the digital coal yard.

[0005] However, the existing environmental inspection devices have the following problems:

[0006] The detection equipment box is hoisted on the lower side of the traveling mechanism with multiple sets of bolts. The detection equipment box is large in size and does not have stable support at the bottom. When the traveling mechanism stops or changes direction, the detection equipment box will shake due to inertia, and the joints are easily affected and loosened. The shaking of the detection equipment box will affect the acquisition of the detection image. The installation angle of the infrared thermal imager in the environmental inspection device is fixed. Although the existing infrared thermal imager has a wide-angle lens, it is not convenient to detect directly below, and there is a detection blind spot. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a rail-type inspection robot platform for key areas and high-risk areas of a thermal power plant. The platform is convenient for detection directly below, the bottom has stable support, and the box of the later detection equipment is not prone to shaking.

[0008] To achieve the above-mentioned purpose, the present invention discloses a rail inspection robot platform for key areas and high-risk areas of a thermal power plant, comprising a rail assembly, the rail assembly comprising two groups of support bars and a group of cross bars, a robot body is arranged above the rail assembly, the robot body comprises an equipment box, an inspection device, a wireless transceiver and a battery pack for providing electric energy, and the inspection device is installed on the outside of the equipment box;

[0009] A sleeve is installed on the lower side of the equipment box, and the sleeve is slidably sleeved on the crossbar. A mounting box is installed on the side of the equipment box, and a moving assembly is installed on the mounting box. The moving assembly is located above the guide rail assembly and cooperates with two sets of support bars.

[0010] An angle adjustment component for driving the patrol device to adjust the angle up and down is installed on the side of the equipment box.

[0011] The further improvement of the rail-type inspection robot platform for key areas and high-risk areas of thermal power plants described in the present invention is:

[0012] Furthermore, the cross bar is located between the two groups of support bars, and the ends of the two groups of support bars are connected to the end of the cross bar through a mounting plate, and the sleeve slides between the two groups of support bars.

[0013] Furthermore, the moving component includes two sets of guide rail wheels and a set of dual-axis motors. The two sets of guide rail wheels are rotatably installed on the side walls of the installation box and are respectively located on the upper side of the support bars. The dual-axis motors are installed inside the installation box, and the output shafts of the dual-axis motors are connected to the guide rail wheels.

[0014] Furthermore, the outer wall of the guide rail walking wheel and the upper side of the support bar are provided with anti-slip grooves.

[0015] Furthermore, the angle adjustment assembly includes an L-shaped mounting frame, an arc rod, a mobile box, a swing rod and a rotating motor. The L-shaped mounting frame is inverted and installed on one side of the equipment box. The arc rod is divided into two groups and both ends are respectively installed on the two side walls of the L-shaped mounting frame. The mobile box is slidably sleeved on the outside of the two groups of arc rods. The inspector is embedded and installed on the inside of the mobile box on a side away from the equipment box. The rotating motor is installed inside the equipment box. One end of the swing rod is connected to the output shaft of the rotating motor through a connecting block, and the other end of the swing rod is fixedly connected to a side of the mobile box close to the equipment box.

[0016] Furthermore, the axis of the arc rod is in the same straight line as the axis of the output shaft of the rotating motor, and a slideway for the swing rod to pass through is provided between the side wall of the equipment box and the vertical plate of the L-shaped mounting frame.

[0017] Furthermore, the inspection device includes at least one of a camera and an infrared thermal imager.

[0018] Furthermore, a transparent dustproof plate is installed at the opening on the side of the equipment box, and a mounting cover is provided at the opening on the side of the mounting box.

[0019] Furthermore, the wireless transceiver and the battery pack are installed inside the equipment box.

[0020] The present invention discloses a rail inspection robot platform for key areas and high-risk areas of a thermal power plant, comprising a rail assembly, the rail assembly comprising two groups of support bars and a group of cross bars, a robot body is arranged above the rail assembly, the robot body comprises an equipment box, an inspection device, a wireless transceiver and a battery pack for providing electric energy, and the inspection device is installed on the outside of the equipment box;

[0021] A sleeve is installed on the lower side of the equipment box, and the sleeve is slidably sleeved on the crossbar. A mounting box is installed on the side of the equipment box, and a moving assembly is installed on the mounting box. The moving assembly is located above the guide rail assembly and cooperates with two sets of support bars.

[0022] An angle adjustment component for driving the inspection device to adjust the angle up and down is installed on the side of the equipment box;

[0023] The wireless transceiver and battery pack are installed inside the equipment box;

[0024] The cross bar is located between the two groups of support bars, and the ends of the two groups of support bars are connected to the end of the cross bar through a mounting plate, and the sleeve slides between the two groups of support bars.

[0025] The present invention has the following beneficial effects:

[0026] During the specific operation of the rail-type inspection robot platform for key areas and high-risk areas of a thermal power plant described in the present invention, the robot body is installed on the upper side of the rail assembly, and slides on the outside of the cross bar through the sleeve on the lower side of the equipment box. Two sets of rail walking wheels are supported on the upper side of the support and move on the upper side of the support bar to provide stable support for the equipment box. The equipment box itself and the equipment inside it will not shake when moving, and the equipment box will not shake in the later stage, thereby ensuring the stability of the inspector and ensuring that clear inspection images can be obtained. In addition, the shooting range of the camera and the infrared thermal imager camera can be expanded through the angle adjustment component, and inspection can be carried out directly below the inspection equipment, so that there are no inspection blind spots in the key areas and high-risk areas of the thermal power plant. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0029] Figure 2 It is a schematic diagram of the front structure of the present invention.

[0030] Figure 3 It is a schematic diagram of the lower structure of the present invention.

[0031] Figure 4 It is a schematic diagram of the top structure of the present invention.

[0032] Figure 5 It is a schematic diagram of the cross-sectional structure of the equipment box 4 in the present invention.

[0033] Among them, 1 is a support bar, 2 is a cross bar, 3 is a mounting plate, 4 is an equipment box, 5 is a mounting box, 6 is a guide rail walking wheel, 7 is a dual-axis motor, 8 is a mounting cover, 9 is an L-shaped mounting frame, 10 is an arc rod, 11 is a mobile box, 12 is an inspection device, 13 is a sleeve, 14 is a swing rod, 15 is a rotating motor, 16 is a connecting block, 17 is a slide, 18 is a wireless transceiver, 19 is a battery pack, and 20 is a transparent dustproof plate. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0036] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0037] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0038] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0039] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0041] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0042] Embodiment 1

[0043] The rail inspection robot platform for key areas and high-risk areas of a thermal power plant described in the present invention comprises a rail assembly, which comprises two groups of support bars 1 and a group of cross bars 2. A robot body is arranged above the rail assembly, and the robot body comprises an equipment box 4, a patrol device 12, a wireless transceiver 18 and a battery pack 19 for providing electric energy. The patrol device 12 is installed on the outside of the equipment box 4; a sleeve 13 is installed on the lower side of the equipment box 4, and the sleeve 13 is slidably sleeved on the cross bar 2. The side of the equipment box 4 An installation box 5 is installed, on which a moving component is installed. The moving component is located above the guide rail component and cooperates with the two groups of support bars 1; an angle adjustment component for driving the patrol device 12 to adjust the angle up and down is installed on the side of the equipment box 4; the wireless transceiver 18 and the battery pack 19 are installed inside the equipment box 4; the cross bar 2 is located between the two groups of support bars 1, and the ends of the two groups of support bars 1 are connected to the ends of the cross bar 2 through the installation plate 3, and the sleeve 13 slides between the two groups of support bars 1.

[0044] Embodiment 2

[0045] refer to Figures 1 to 5The rail-type inspection robot platform for key areas and high-risk areas of a thermal power plant described in the present invention includes a rail assembly, and the rail assembly includes two groups of support bars 1 and a group of cross bars 2, the cross bars 2 are located between the two groups of support bars 1, and a mounting plate 3 is connected between the ends of the two groups of support bars 1 and the ends of one group of cross bars 2, the two groups of support bars 1 are connected to the one group of cross bars 2 through the mounting plate 3, and the mounting plate 3 is fixedly installed on the wall of the key areas and high-risk areas of the thermal power plant.

[0046] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 And attached Figure 5 As shown, a robot body is provided above the guide rail assembly, and the robot body includes an equipment box 4, an inspection device 12, a wireless transceiver 18 and a battery pack 19. The inspection device 12 includes a camera and an infrared thermal imager. The inspection device 12 is installed on the outside of the equipment box 4, and the wireless transceiver 18 and the battery pack 19 are installed inside the equipment box 4. The inspection robot is powered by the battery pack 19 to prevent the normal operation of the inspection robot from being affected by the lack of power in the event of a disaster. A transparent dustproof plate 20 is installed at the opening on the side of the equipment box 4 to prevent dust from entering the equipment box 4 and affecting the operation of the internal equipment.

[0047] A sleeve 13 is installed on the lower side of the equipment box 4 , and the sleeve 13 is slidably sleeved on the cross bar 2 . The sleeve 13 slides between the two groups of support bars 1 , and the equipment box 4 is supported and guided by the cross bar 2 .

[0048] As attached Figure 1 And attached Figure 4 As shown, an installation box 5 is installed on the side of the equipment box 4, and a moving component is installed on the installation box 5. The moving component is above the guide rail component and cooperates with the two groups of support bars 1 to drive the robot body to move horizontally. The moving component includes two groups of guide rail walking wheels 6 and a group of dual-axis motors 7. The two groups of guide rail walking wheels 6 are rotatably installed on the side panels of the installation box 5 and are respectively located on the support bars 1. The dual-axis motors 7 are installed inside the installation box 5, and the output shafts of the dual-axis motors 7 are connected to the guide rail walking wheels 6. The dual-axis motors 7 drive the two groups of guide rail walking wheels 6 to rotate in the same direction and at the same speed. A cover plate 8 is installed on the upper side of the installation box 5, and the outer wall of the guide rail walking wheel 6 and the upper side of the support bar 1 are provided with anti-slip grooves to prevent the guide rail walking wheels 6 from idling on the upper side of the support bar 1.

[0049] As attached Figure 2 and attached Figure 3As shown, an angle adjustment component is installed on the side of the equipment box 4, and the angle adjustment component drives the patrol inspector 12 to adjust the angle up and down. The angle adjustment component includes an L-shaped mounting frame 9, an arc rod 10, a mobile box 11, a swing rod 14 and a rotating motor 15. The L-shaped mounting frame 9 is invertedly installed on the equipment box 4, and the arc rod 10 includes two groups and the two ends are respectively installed on the side walls of the L-shaped mounting frame 9. The mobile box 11 is slidably sleeved on the outside of the two groups of arc rods 10. The patrol inspector 12 is embedded and installed on the inside of the mobile box 11 on a side away from the equipment box 4. The rotating motor 15 is fixed It is fixedly installed inside the equipment box 4, one end of the swing rod 14 is connected to the output shaft of the rotating motor 15 by a connecting block 16, and the other end of the swing rod 14 is fixedly connected to a side of the mobile box 11 close to the equipment box 4, and the axis of the arc rod 10 is in the same straight line as the axis of the output shaft of the rotating motor 15, so that when the arc rod 10 drives the mobile box 11 to move, the mobile box 11 can move along the two groups of arc rods 10, and a slide 17 for the swing rod 14 to pass through is provided between the side wall of the equipment box 4 and the vertical plate of the L-shaped mounting frame 9, ensuring that the swing rod 14 has a certain swing space.

[0050] The working process of the present invention is:

[0051] When the inspection robot is in use, in order to expand the lateral detection range, the dual-axis motor 7 is started, and the two sets of guide rail wheels 6 are driven by the dual-axis motor 7 to rotate on the support bar 1 respectively, and the installation box 5 and the equipment box 4 are driven to move above the support bar 1 by the guide rail wheels 6. The sleeve 13 is slidably sleeved on the outside of the cross bar 2, and while supporting the equipment box 4, it slides on the outside of the cross bar 2, and the movement of the equipment box 4 drives the inspector 12 to move horizontally, thereby expanding the lateral detection range.

[0052] In order to expand the longitudinal detection range, the rotating motor 15 is started, and the connecting block 16 and the swing rod 14 are driven to rotate by the output shaft of the rotating motor 15. The swing rod 14 drives the moving box 11 to slide on the outside of the arc rod 10. The moving box 11 is limited by the arc rod 10 to keep the moving box 11 stable. The moving box 11 drives the patrol device 12 to adjust the angle, thereby expanding the longitudinal detection range and being able to detect directly below the patrol equipment.

[0053] By combining the above-mentioned lateral movement and longitudinal movement, comprehensive inspection of key areas and high-risk areas of thermal power plants can be achieved, so that there are no inspection blind spots inside the key areas and high-risk areas of thermal power plants.

[0054] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and disclosure of the invention. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention is indicated by the following claims.

[0055] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0056] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A rail-type inspection robot platform for key areas and high-risk areas of thermal power plants, characterized in that: The invention comprises a guide rail assembly, wherein the guide rail assembly comprises two groups of support bars (1) and a group of cross bars (2); a robot body is arranged above the guide rail assembly; the robot body comprises an equipment box (4), a patrol device (12), a wireless transceiver (18) and a battery pack (19) for providing electric energy; and the patrol device (12) is installed on the outside of the equipment box (4); A sleeve (13) is installed on the lower side of the equipment box (4), and the sleeve (13) is slidably sleeved on the crossbar (2). A mounting box (5) is installed on the side of the equipment box (4), and a moving assembly is installed on the mounting box (5). The moving assembly is located above the guide rail assembly and cooperates with the two groups of support bars (1); An angle adjustment component for driving the inspection device (12) to adjust the angle up and down is installed on the side of the equipment box (4).

2. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 1 is characterized in that: The cross bar (2) is located between the two groups of support bars (1), and the ends of the two groups of support bars (1) are connected to the end of the cross bar (2) via a mounting plate (3), and the sleeve (13) slides between the two groups of support bars (1).

3. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 2 is characterized in that: The moving assembly comprises two groups of guide rail wheels (6) and a group of dual-axis motors (7). The two groups of guide rail wheels (6) are rotatably mounted on the side walls of the installation box (5) and are respectively located on the upper side of the support bar (1). The dual-axis motors (7) are mounted inside the installation box (5), and the output shafts of the dual-axis motors (7) are connected to the guide rail wheels (6).

4. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 3 is characterized in that: The outer wall of the guide rail running wheel (6) and the upper side of the support bar (1) are both provided with anti-slip grooves.

5. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 1 is characterized in that: The angle adjustment assembly comprises an L-shaped mounting frame (9), an arc-shaped rod (10), a moving box (11), a swing rod (14) and a rotating motor (15); the L-shaped mounting frame (9) is invertedly mounted on one side of the equipment box (4); the arc-shaped rod (10) is in two groups and the two ends are respectively mounted on the two side walls of the L-shaped mounting frame (9); the moving box (11) is slidably sleeved on the outside of the two groups of arc-shaped rods (10); the inspection device (12) is embedded and mounted on the inside of the moving box (11) on a side away from the equipment box (4); the rotating motor (15) is mounted inside the equipment box (4); one end of the swing rod (14) is connected to the output shaft of the rotating motor (15) through a connecting block (16); the other end of the swing rod (14) is fixedly connected to the side of the moving box (11) close to the equipment box (4).

6. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 5 is characterized in that: The axis of the arc rod (10) is in the same straight line as the axis of the output shaft of the rotating motor (15), and a slideway (17) for the swing rod (14) to pass through is provided between the side wall of the equipment box (4) and the vertical plate of the L-shaped mounting frame (9).

7. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 5 is characterized in that: The inspection device (12) comprises at least one of a camera and an infrared thermal imager.

8. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 1 is characterized in that: A transparent dustproof plate (20) is installed at the opening on the side of the equipment box (4), and a mounting cover plate (8) is provided at the opening on the side of the mounting box (5).

9. The rail-type inspection robot platform for key areas and high-risk areas of thermal power plants according to claim 1 is characterized in that: The wireless transceiver (18) and the battery pack (19) are installed inside the equipment box (4).

10. A rail-type inspection robot platform for key areas and high-risk areas of thermal power plants, characterized in that: The invention comprises a guide rail assembly, wherein the guide rail assembly comprises two groups of support bars (1) and a group of cross bars (2); a robot body is arranged above the guide rail assembly; the robot body comprises an equipment box (4), a patrol device (12), a wireless transceiver (18) and a battery pack (19) for providing electric energy; and the patrol device (12) is installed on the outside of the equipment box (4); A sleeve (13) is installed on the lower side of the equipment box (4), and the sleeve (13) is slidably sleeved on the crossbar (2). A mounting box (5) is installed on the side of the equipment box (4), and a moving assembly is installed on the mounting box (5). The moving assembly is located above the guide rail assembly and cooperates with the two groups of support bars (1); An angle adjustment component for driving the inspection device (12) to adjust the angle up and down is installed on the side of the equipment box (4); The wireless transceiver (18) and the battery pack (19) are installed inside the equipment box (4); The cross bar (2) is located between the two groups of support bars (1), and the ends of the two groups of support bars (1) are connected to the end of the cross bar (2) via a mounting plate (3), and the sleeve (13) slides between the two groups of support bars (1).

Images