An industrial inspection and maintenance robot

Abstract

The present invention relates to the field of industrial robot technology, and more specifically to an industrial inspection and maintenance robot, comprising a base module and a mobile module, wherein two mobile modules are provided and are respectively arranged at the top and bottom of the base module, and four adjustment slots are provided at the top and bottom of the base module, wherein the adjustment slots are symmetrically arranged in pairs, and L-shaped locking rods are slidably installed in the adjustment slots, and a telescopic cylinder with a two-way structure is fixedly installed in the base module and between the symmetrically arranged adjustment slots, wherein the telescopic end of the telescopic cylinder extends into the corresponding adjustment slot and is fixedly connected to the locking rod. The present invention designs a base module and a mobile module, and through the alternating flight of the two mobile modules, the base module can be driven to move back and forth between a plurality of channel steels without being blocked by welding points or other obstacles on the channel steels, thereby greatly improving the range of the robot inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial inspection and maintenance robot. Background Art

[0002] In modern industrial production, in order to save labor costs and improve industrial production efficiency, industrial robots are usually used to replace manual labor for inspection and maintenance.

[0003] However, the functions of existing industrial inspection robots are relatively simple. They basically carry rotatable or liftable camera units and detection units through a drive device to patrol around industrial pipelines or equipment brackets. Their monitoring range is very limited, and the monitoring means are single. In addition, there are generally a large number of industrial equipment or pipelines, and there are many corners. Conventional robots have limited height. Even if there is a lifting structure, the lifting height is also limited. They cannot cope with the inspection of large industrial pipeline groups or large industrial equipment. The use of drone-type robots cannot guarantee the stability of the lens. In addition, drone-type inspection robots are very likely to collide with industrial pipelines or equipment during the inspection process, and the safety factor is low. These situations have brought many inconveniences to the use of industrial inspection robots. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the background technology and to propose an industrial inspection and maintenance robot.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: an industrial inspection and maintenance robot, comprising a basic module and a mobile module, the basic module being a cylindrical structure, two mobile modules being provided and being respectively arranged at the top and bottom of the basic module, four adjustment slots being provided at the top and bottom of the basic module, the adjustment slots being symmetrically arranged in pairs, locking rods of L-shaped structures being slidably installed in the adjustment slots, the installation directions of the locking rods in the symmetrically arranged adjustment slots being arranged in opposite directions to each other, a telescopic cylinder 1 of a bidirectional telescopic structure being fixedly installed in the basic module and between the symmetrically arranged adjustment slots, the telescopic end of the telescopic cylinder 1 extending into the corresponding adjustment slot and being fixedly connected to the locking rod;

[0006] Four locking slots are provided on the side of the mobile module close to the basic module. The four locking slots are symmetrically arranged in pairs, and the locking rods are inserted into the corresponding locking slots. The mobile module has a diamond structure and four symmetrically arranged mounting holes are provided on the mobile module. The driving module is arranged in the mounting holes.

[0007] In the above-mentioned industrial inspection and maintenance robot, the driving module consists of a connecting rod and a driving shaft. The connecting rod is arranged in a mounting hole. Connecting shafts are fixedly installed at both ends of the connecting rod. The end of the connecting shaft away from the connecting rod is rotatably connected to the inner wall of the mounting hole. The driving shaft is rotatably installed on the connecting rod, and a spiral blade is fixedly installed on the driving shaft.

[0008] In the above-mentioned industrial inspection and maintenance robot, four winding shafts are installed in the basic module, and the four winding shafts are symmetrically arranged in pairs. Connecting steel wires are wound on the winding shafts, and one end of the connecting steel wire passes through the basic module and is fixedly connected to the corresponding mobile module.

[0009] In the above-mentioned industrial inspection and maintenance robot, a circular rotating groove is provided on the mobile module, a rotating disk is rotatably installed in the rotating groove, two symmetrically arranged clamping grooves are provided on the rotating disk, a locking shaft is rotatably installed in the clamping groove, and an L-shaped locking frame is fixedly installed on the locking shaft. The installation directions of the two locking frames on the same mobile module are arranged to face each other.

[0010] In the above-mentioned industrial inspection and maintenance robot, an installation groove is provided on the locking frame, and two symmetrically arranged driving gears are rotatably installed in the installation groove. A driving belt is provided in the installation groove and between the two driving gears. A plurality of rubber protrusions are fixedly installed on the outer ring wall of the driving belt, and a plurality of driving tooth grooves are evenly distributed along its circumference are provided on the inner ring wall of the driving belt. A limit plate is fixedly installed on the inner wall of the installation groove, and the limit plate is inserted into the inner ring of the driving belt.

[0011] In the above-mentioned industrial inspection and maintenance robot, a locking plate is slidably mounted on the inner wall of the clamping groove, and an inclined surface is provided on the top of the locking plate.

[0012] In the above-mentioned industrial inspection and maintenance robot, two symmetrically arranged limiting grooves are provided on the sides of the two mobile modules away from each other, and a telescopic cylinder 2 is fixedly installed in the limiting groove. A resistance plate is fixedly installed on the telescopic end of the telescopic cylinder 2, and a plurality of auxiliary rollers distributed in a straight line are rotatably installed on the side of the resistance plate away from the telescopic cylinder 2.

[0013] In the above-mentioned industrial inspection and maintenance robot, an adjustment slot is provided in the basic module, both ends of the adjustment slot pass through the basic module, a cylindrical adjustment module is slidably installed on the inner wall of the adjustment slot, and adjustment disks are rotatably installed on the top and bottom of the adjustment module. A camera unit is fixedly installed on the side of the adjustment disk away from the adjustment module, and an auxiliary slot is provided on the mobile module, which passes through the mobile module and is connected to the adjustment slot.

[0014] Compared with the existing technology, the advantages of this industrial inspection and maintenance robot are: the present invention is designed with a basic module and a mobile module. Through the alternating flight of the two mobile modules, the basic module can be driven to move back and forth between several channel steels without being blocked by the welding points and other obstacles on the channel steels, which greatly improves the range of the robot's inspection. At the same time, through the limitation of the channel steel, the stability of the inspection robot during inspection can be improved, and it is not easy to collide during the inspection process, which further improves the inspection efficiency and safety of the inspection robot. At the same time, the channel steel can serve as the inspection track of the inspection robot, and there is no need to install the inspection track separately, which further reduces the use cost of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the basic module and the mobile module in the present invention.

[0016] Figure 2 It is a schematic diagram of the three-dimensional structure of the mobile module in the present invention.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the rotating disk in the present invention.

[0018] Figure 4 It is a schematic cross-sectional structural diagram of the basic module and the mobile module in the present invention.

[0019] Figure 5 This invention Figure 4 Schematic diagram of the locally enlarged structure at point A in the middle.

[0020] Figure 6 This invention Figure 4 Schematic diagram of the local enlarged structure at point B in the middle.

[0021] Figure 7 It is a schematic cross-sectional structural diagram of the mounting groove in the present invention.

[0022] Figure 8 It is a schematic diagram of the three-dimensional structure of the basic module in the present invention.

[0023] Figure 9 This invention Figure 8 Schematic diagram of the locally enlarged structure at point C in the middle.

[0024] Figure 10 It is a schematic diagram of the three-dimensional structure of the locking groove in the present invention.

[0025] Figure 11 It is a schematic cross-sectional structural diagram of the connecting rod in the present invention.

[0026] Figure 12 It is a schematic diagram of the suspension state of the basic module and the mobile module in the present invention.

[0027] In the figure: 1. Basic module; 2. Moving module; 101. Adjusting slide; 102. Locking rod; 103. Telescopic cylinder 1; 201. Locking slot; 202. Mounting hole; 3. Driving module; 301. Connecting rod; 302. Driving shaft; 303. Connecting shaft; 104. Reeling shaft; 105. Connecting wire; 203. Rotating slot; 204. Rotating disk; 205. Clamping slot; 206. Locking shaft; 207. Locking frame; 208. Mounting slot; 209. Driving gear; 210. Driving belt; 211. Limiting plate; 212. Locking plate; 213. Limiting groove; 214. Telescopic cylinder 2; 215. Contact plate; 216. Auxiliary roller; 106. Adjusting slot; 107. Adjusting module; 108. Adjusting disk; 217. Auxiliary slot. DETAILED DESCRIPTION

[0028] 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 only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0030] Reference Figures 1-12 , an industrial inspection and maintenance robot includes a basic module 1 and a mobile module 2. The basic module 1 is a cylindrical structure. The mobile module 2 is provided with two and is respectively arranged at the top and bottom of the basic module 1. Four adjusting slots 101 are provided at the top and bottom of the basic module 1. The adjusting slots 101 are symmetrically arranged in pairs. L-shaped locking rods 102 are slidably installed in the adjusting slots 101. The installation directions of the locking rods 102 in the symmetrically arranged adjusting slots 101 are opposite to each other. A telescopic cylinder 103 with a two-way telescopic structure is fixedly installed in the basic module 1 and between the symmetrically arranged adjusting slots 101. The telescopic end of the telescopic cylinder 103 extends into the corresponding adjusting slot 101 and is fixedly connected to the locking rod 102. The basic module 1 is used to install the detection device, and the mobile module 2 is used to drive the basic module 1 to move.

[0031] Four locking grooves 201 are provided on the side of the mobile module 2 close to the basic module 1. The four locking grooves 201 are symmetrically arranged in pairs, and the locking rods 102 are inserted into the corresponding locking grooves 201. The mobile module 2 has a diamond structure. Four symmetrically arranged mounting holes 202 are provided on the mobile module 2. A driving module 3 is provided in the mounting hole 202. When the basic module 1 and the mobile module 2 are fitted together, the locking rods 102 will be inserted into the corresponding locking grooves 201. At this time, the two corresponding locking rods 102 are pushed away from each other by the telescopic cylinder 103. The mobile module 2 can be fixedly connected to the basic module 1 by several locking rods 102. The driving module 3 is used to drive the mobile module 2 to fly, and the telescopic cylinder 103 is an electric telescopic cylinder.

[0032] The driving module 3 consists of a connecting rod 301 and a driving shaft 302. The connecting rod 301 is arranged in the mounting hole 202. Both ends of the connecting rod 301 are fixedly installed with a connecting shaft 303. The end of the connecting shaft 303 away from the connecting rod 301 is rotatably connected to the inner wall of the mounting hole 202. The driving shaft 302 is rotatably installed on the connecting rod 301. A spiral blade is fixedly installed on the driving shaft 302. The connecting rod 301 is used to fix the driving shaft 302. A driving motor is fixedly installed in the connecting rod 301. The driving motor is fixedly connected to the driving shaft 302. The driving motor cooperates with the driving shaft 302 to drive the spiral blade to rotate at high speed, thereby driving the mobile module 2 to fly. The connecting shaft 303 is used to make the connecting rod 301 rotatably connected to the inner wall of the mounting hole 202. The connecting shaft 303 is connected to another driving motor. Through the connecting shaft 303, the connecting rod 301, the driving shaft 302 and the spiral blade can be driven to tilt, which is convenient for adjusting the flight direction of the mobile module 2.

[0033] Four reeling shafts 104 are installed in the basic module 1. The four reeling shafts 104 are symmetrically arranged in pairs. A connecting steel wire 105 is wound on the reeling shaft 104. One end of the connecting steel wire 105 passes through the basic module 1 and is fixedly connected to the corresponding mobile module 2. The reeling shaft 104 is connected to another driving motor. The connecting steel wire 105 can be released or reeled by rotating the reeling shaft 104. The two mobile modules 2 can be separated from the basic module 1 through the connecting steel wire 105, and the separated mobile module 2 can also be guided to fit together with the basic module 1 again.

[0034] The mobile module 2 is provided with a rotating groove 203 of a circular structure, a rotating disk 204 is rotatably installed in the rotating groove 203, and two symmetrically arranged clamping grooves 205 are provided on the rotating disk 204. A locking shaft 206 is rotatably installed in the clamping groove 205, and an L-shaped locking frame 207 is fixedly installed on the locking shaft 206. The installation directions of the two locking frames 207 on the same mobile module 2 are set to face each other. A rotating motor is fixedly installed in the mobile module 2. The rotating motor rotates through a rotating gear and a rotating gear on the outer wall of the rotating disk 204. The gear groove drives the rotating disk 204 to rotate. An electric telescopic rod is fixedly installed in the rotating disk 204. A rack is fixedly installed at the telescopic end of the electric telescopic rod. One end of the locking shaft 206 extends into the rotating disk 204 and is fixedly installed with a locking gear. The rack is engaged with the locking gear. The locking shaft 206 and the locking frame 207 can be driven to rotate by the push of the electric telescopic rod. When the locking frame 207 rotates in the specified direction, it will be clamped on the channel steel. At this time, the mobile module 2 can be clamped on the channel steel through two symmetrically arranged locking frames 207.

[0035] A mounting slot 208 is provided on the locking frame 207, and two symmetrically arranged driving gears 209 are rotatably installed in the mounting slot 208. A driving belt 210 is sleeved in the mounting slot 208 and located between the two driving gears 209. A number of rubber bumps are fixedly installed on the outer ring wall of the driving belt 210, and a number of driving tooth grooves are uniformly distributed along its circumference are provided on the inner ring wall of the driving belt 210. A limiting plate 211 is fixedly installed on the inner wall of the mounting slot 208, and the limiting plate 211 is inserted into the inner ring of the driving belt 210. A moving motor is fixedly installed in the mounting slot 208, and the driving gear 209 and the driving belt 210 can be driven to rotate by the moving motor. The driving belt 210 can drive the moving module 2 to move back and forth along the channel steel, and the limiting plate 211 can make the driving belt 210 fit on the channel steel.

[0036] A locking plate 212 is slidably mounted on the inner wall of the clamping groove 205. The top of the locking plate 212 is provided with an inclined surface. The locking plate 212 can be raised and lowered by a corresponding electric telescopic rod. When the locking frame 207 is rotated to the specified position, the locking plate 212 can be raised to make it contact the rotated locking frame 207. At this time, the position of the locking frame 207 is fixed and cannot be rotated, which can ensure the stability of the locking frame 207 during movement.

[0037] The two moving modules 2 are provided with two symmetrically arranged limiting grooves 213 on the side away from each other, and a telescopic cylinder 214 is fixedly installed in the limiting groove 213. The telescopic end of the telescopic cylinder 214 is fixedly installed with a contact plate 215. The contact plate 215 is rotatably installed on the side away from the telescopic cylinder 214. Several auxiliary rollers 216 distributed in a straight line are rotatably installed. When the top of the moving module 2 located above is in contact with the channel steel, the two locking frames 207 located on the upper moving module 2 are operated to rotate and clamp on the channel steel. In order to ensure the smoothness of the rotation of the locking frame 207, at this time, the two driving belts 210 on the locking frame 207 are still a certain distance away from the channel steel. At this time, the contact plate 215 is pushed up by the telescopic cylinder 214 and the moving module 2 is lowered a certain distance. When the moving module 2 is lowered, the driving belt 210 is driven to fit on the channel steel. At this time, the driving belt 210 can drive the moving module 2 to move. The telescopic cylinder 214 is an electric telescopic cylinder.

[0038] An adjusting slot 106 is provided in the basic module 1, and both ends of the adjusting slot 106 pass through the basic module 1. A cylindrical adjusting module 107 is slidably installed on the inner wall of the adjusting slot 106, and an adjusting disk 108 is rotatably installed on the top and bottom of the adjusting module 107. A camera unit is fixedly installed on the side of the adjusting disk 108 away from the adjusting module 107, and an auxiliary slot 217 is provided on the mobile module 2, which passes through the mobile module 2 and is connected to the adjusting slot 106. A lifting slot is provided on the inner wall of the adjusting slot 106, and an electric slider is slidably installed in the lifting slot, which can drive the adjusting module 107 to move back and forth. An adjusting motor is fixedly installed in the adjusting module 107, and the adjusting disk 108 and the corresponding camera unit can be driven to rotate by the adjusting motor to realize multi-directional inspection.

[0039] The specific working principle and method of use of the present invention are explained in detail below: When in use, first operate the basic module 1 together with the two mobile modules 2 to fly into the air, operate the basic module 1 and the two mobile modules 2 to fly to the bottom of the channel steel, and the top of the mobile module 2 is fixedly installed with a sensing unit. The sensing unit is used to operate the mobile module 2 to move to the specified position and align it with the channel steel. At the same time, the rotating disk 204 is operated to rotate so that the corresponding two locking frames 207 are aligned with the channel steel. At this time, the basic module 1 and the two mobile modules 2 are operated to rise vertically. When the base module 1 and the two mobile modules 2 are located above After the top of the mobile module 2 is attached to the bottom of the channel steel, the two locking frames 207 on the upper mobile module 2 are rotated and clamped on the channel steel. In order to ensure the smooth rotation of the locking frames 207, the two driving belts 210 on the locking frames 207 are still a certain distance away from the channel steel. At this time, the contact plate 215 is pushed up by the second telescopic cylinder 214 and the mobile module 2 is lowered a certain distance. When the mobile module 2 is lowered, the driving belts 210 are attached to the channel steel. At this time, the driving belts 210 can drive the mobile module 2 to move;

[0040] When the upper mobile module 2 is clamped on the channel steel, the adjustment module 107 is operated to descend, and the camera unit below the adjustment module 107 is extended out of the adjustment slot 106 and the corresponding auxiliary slot 217. At the same time, the camera unit is rotated in conjunction with the rotation of the adjustment disk 108 to achieve a wide range of inspection. The driving belt 210 is operated to drive the mobile module 2 and the basic module 1 to move back and forth along the channel steel, which can further increase the inspection range of the camera unit. When the inspection range of the camera unit is blocked, the corresponding winding shaft 104 is operated to rotate to release the corresponding connecting wire 105. At the same time, the corresponding locking rod 102 is operated to disengage from the corresponding locking slot 201. At this time, the upper mobile module 2 is still clamped on the channel steel, while the basic module 1 and the mobile module 2 below automatically fall down under the action of weight and are in a suspended state. The basic module 1 in the suspended state can further increase the inspection range of the camera unit.

[0041] When the movement of the mobile module 2 on the single channel steel is blocked, the basic module 1 and the mobile module 2 are released according to the above steps. After the basic module 1 and the mobile module 2 are operated to descend to the specified height, the spiral blade on the mobile module 2 located below is operated to rotate at high speed, driving the basic module 1 to be suspended in the air. At the same time, the connecting rod 301 is operated to rotate, driving the mobile module 2 located below to flip. At this time, the basic module 1 is located below the suspended mobile module 2.

[0042] When the mobile module 2 is flipped after being suspended, the corresponding mobile module 2 is operated to fly to the bottom of another channel steel and the mobile module 2 is clamped on the other channel steel according to the previous fixing steps. At this time, the mobile module 2 fixed in the operation step 1 is separated from the corresponding channel steel and flipped through the spiral blade. The flipped mobile module 2 can be fitted under the bottom of the basic module 1 again under the guidance of the corresponding connecting steel wire 105 under the action of its own flight. At this time, the basic module 1 is fixed to the fitted mobile module 2. At this time, the basic module 1 and the mobile module 2 can restart the mobile inspection on another channel steel. The reciprocating alternation of the two mobile modules 2 can drive the basic module 1 to move on several channel steels, which greatly facilitates the inspection range of the robot.

[0043] It is further explained that the above-mentioned fixed connection should be understood in a broad sense unless otherwise clearly specified and limited. For example, it can be welding, gluing, or one-piece molding, etc., which are common means well known to those skilled in the art.

[0044] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An industrial inspection and maintenance robot, comprising a base module (1) and a mobile module (2), characterized in that: The basic module (1) is a cylindrical structure, and two mobile modules (2) are provided and respectively arranged at the top and bottom of the basic module (1). Four adjusting slots (101) are provided at the top and bottom of the basic module (1). The adjusting slots (101) are symmetrically arranged in pairs. L-shaped locking rods (102) are slidably installed in the adjusting slots (101). The installation directions of the locking rods (102) in the symmetrically arranged adjusting slots (101) are opposite to each other. A telescopic cylinder (103) with a bidirectional telescopic structure is fixedly installed in the basic module (1) and between the symmetrically arranged adjusting slots (101). The telescopic end of the telescopic cylinder (103) extends into the corresponding adjusting slot (101) and is fixedly connected to the locking rod (102). The mobile module (2) is provided with four locking slots (201) on a side close to the base module (1), the four locking slots (201) are symmetrically arranged in pairs, the locking rods (102) are inserted into the corresponding locking slots (201), the mobile module (2) is in a diamond-shaped structure, and the mobile module (2) is provided with four symmetrically arranged mounting holes (202), and the driving module (3) is arranged in the mounting holes (202); Four reeling shafts (104) are installed in the basic module (1), and the four reeling shafts (104) are symmetrically arranged in pairs. A connecting steel wire (105) is wound on the reeling shaft (104), and one end of the connecting steel wire (105) passes through the basic module (1) and is fixedly connected to the corresponding mobile module (2); Two symmetrically arranged limiting grooves (213) are provided on the sides of the two moving modules (2) that are away from each other. A second telescopic cylinder (214) is fixedly installed in the limiting groove (213). A contact plate (215) is fixedly installed at the telescopic end of the second telescopic cylinder (214). A plurality of auxiliary rollers (216) distributed in a straight line are rotatably installed on the side of the contact plate (215) away from the second telescopic cylinder (214).

2. The industrial inspection and maintenance robot according to claim 1, characterized in that: The driving module (3) is composed of a connecting rod (301) and a driving shaft (302); the connecting rod (301) is arranged in the mounting hole (202); connecting shafts (303) are fixedly mounted on both ends of the connecting rod (301); one end of the connecting shaft (303) away from the connecting rod (301) is rotatably connected to the inner wall of the mounting hole (202); the driving shaft (302) is rotatably mounted on the connecting rod (301); and a spiral blade is fixedly mounted on the driving shaft (302).

3. The industrial inspection and maintenance robot according to claim 1, characterized in that: The mobile module (2) is provided with a rotating groove (203) with a circular structure, a rotating disk (204) is rotatably installed in the rotating groove (203), the rotating disk (204) is provided with two symmetrically arranged clamping grooves (205), a locking shaft (206) is rotatably installed in the clamping groove (205), and an L-shaped locking frame (207) is fixedly installed on the locking shaft (206), and the installation directions of the two locking frames (207) on the same mobile module (2) are arranged to face each other.

4. The industrial inspection and maintenance robot according to claim 3, characterized in that: The locking frame (207) is provided with a mounting groove (208), and two symmetrically arranged driving gears (209) are rotatably mounted in the mounting groove (208). A driving belt (210) is sleeved in the mounting groove (208) and located between the two driving gears (209). A plurality of rubber protrusions are fixedly mounted on the outer ring wall of the driving belt (210), and a plurality of driving tooth grooves are uniformly distributed along the circumference of the driving belt (210) are provided on the inner ring wall of the driving belt (210). A limiting plate (211) is fixedly mounted on the inner wall of the mounting groove (208), and the limiting plate (211) is inserted into the inner ring of the driving belt (210).

5. The industrial inspection and maintenance robot according to claim 3, characterized in that: A locking plate (212) is slidably mounted on the inner wall of the clamping groove (205), and an inclined surface is provided on the top of the locking plate (212).

6. The industrial inspection and maintenance robot according to claim 1, characterized in that: An adjusting slot (106) is provided in the basic module (1), both ends of the adjusting slot (106) pass through the basic module (1), an adjusting module (107) with a cylindrical structure is slidably mounted on the inner wall of the adjusting slot (106), an adjusting disk (108) is rotatably mounted on the top and bottom of the adjusting module (107), a camera unit is fixedly mounted on the side of the adjusting disk (108) away from the adjusting module (107), an auxiliary slot (217) is provided on the mobile module (2), the auxiliary slot (217) passes through the mobile module (2) and is connected to the adjusting slot (106).

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