Intelligent inspection robot for electric power pipe gallery

Abstract

The invention discloses an intelligent inspection robot for an electric power pipe gallery, and relates to the technical field of inspection robots, and the intelligent inspection robot comprises an equipment cabin and a walking mechanism arranged on the equipment cabin; the system further comprises a working cabin, a driving motor, an automatic zoom camera, a thermal imaging high-definition camera, a switching mechanism and an elastic connecting mechanism. A first transmission mechanism and a second transmission mechanism are arranged in a working cabin, and a driving motor arranged in an equipment cabin and a switching mechanism and an elastic connecting mechanism which are arranged in the working cabin are used, so that the driving motor can switch to drive an automatic zoom camera, a thermal imaging high-definition camera and the working cabin to independently rotate; the single driving motor can control multiple devices to work, energy is saved, efficiency is improved, flexibility is effectively improved, and daily overhaul and maintenance are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to an intelligent inspection robot for a power pipe gallery. Background Art

[0002] A power pipe gallery is an underground tunnel or trench for centrally laying power cables to solve the problem of laying power lines and reduce the impact on ground space. The power pipe gallery can accommodate cables of various voltage levels, including high-voltage and low-voltage cables, as well as communication cables, etc.

[0003] In the normal operation of power cables, their operating environment, the magnitude of the current carried, and the level of voltage are all key factors affecting their insulation performance. As the cable insulation material gradually ages, potential operating risks increase. If corresponding measures are not taken in a timely manner, this aging may cause insulation breakdown, leading to a series of problems such as ground faults, short circuits, disconnections, and flashovers, seriously affecting the stability and safety of the power system. Therefore, it is particularly important to achieve safe inspection of the pipe gallery to obtain the status of the cable insulation material and the environmental conditions inside the pipe gallery.

[0004] Pipe gallery inspection robots are widely used to collect relevant monitoring data inside the pipe gallery and upload the data to the ground monitoring platform through a wireless network, so as to analyze the collected data through the monitoring platform to obtain the environmental conditions inside the pipe gallery and the health status of power facilities such as cables.

[0005] Existing pipe gallery inspection robots generally move on the tracks inside the pipe gallery through a traveling mechanism to inspect the situation inside the pipe gallery. For example, a comprehensive pipe gallery inspection robot with the publication number CN110666772A includes tracks. The comprehensive pipe gallery inspection robot is installed on the tracks and moves on its tracks. The comprehensive pipe gallery inspection robot includes connecting plates symmetrically arranged on both sides of the tracks. Symmetrically arranged stabilizing devices are provided at the tops of both sides of the connecting plates. Driving wheels are symmetrically installed inside the connecting plates. The driving wheels are connected to driving gears installed on the left and right outer walls of the connecting plates through rotating shafts. The driving gears are connected to driving motors. A control box is connected to the lower part of the connecting plates. A gas detection device and a laser sensor are installed at the front end of the control box. Wireless transmission modules are installed on both sides of the control box. A rotating pair is provided at the bottom of the control box, and the rotating pair is connected to a camera system.

[0006] The camera system composed of a camera and an infrared camera of the above inspection robot can only rotate simultaneously and requires multiple rotating pairs to separately control its horizontal rotation and vertical rotation, with low flexibility. Therefore, the present application proposes an intelligent inspection robot for a power pipe gallery in which the camera and the infrared camera can rotate separately and synchronously horizontally. Summary of the Invention

[0007] The object of the present invention is to address the deficiencies in the above technologies by providing an intelligent inspection robot for power pipe corridors, aiming to solve the existing problems.

[0008] The present invention provides an intelligent inspection robot for power pipe corridors, including an equipment cabin and a traveling mechanism arranged on the equipment cabin; it further includes:

[0009] A working cabin, rotatably arranged at the lower end of the equipment cabin;

[0010] A driving motor, arranged inside the equipment cabin, with a driving bevel gear at its output end, and the driving bevel gear is located inside the working cabin;

[0011] An auto-focus camera, arranged on one side of the working cabin through a first transmission mechanism, and the first transmission mechanism is in transmission connection with the driving bevel gear;

[0012] A thermal imaging high-definition camera, arranged on the other side of the working cabin through a second transmission mechanism, and the second transmission mechanism is in transmission connection with the driving bevel gear;

[0013] A switching mechanism, arranged inside the working cabin, and hinged to the first transmission mechanism and the second transmission mechanism respectively; the switching mechanism makes the first transmission mechanism and the second transmission mechanism separately engage with the driving bevel gear through telescopic movement, and simultaneously disengage from the driving bevel gear;

[0014] When the first transmission mechanism and the second transmission mechanism simultaneously disengage from the driving bevel gear, an elastic connection mechanism that rolls and abuts against the first transmission mechanism and the second transmission mechanism at the same time is inserted into the end face of the driving bevel gear, so that the driving motor drives the working cabin fixedly connected to the elastic connection mechanism to rotate.

[0015] Preferably, the first transmission mechanism includes a first transmission rod, a first transmission sleeve, and a first transmission bevel gear. The first transmission rod is connected to the auto-focus camera, and the first transmission sleeve is slidably arranged on the first transmission rod; the first transmission bevel gear is connected to the end of the first transmission sleeve, and the first transmission bevel gear is in meshing transmission with the driving bevel gear.

[0016] The second transmission mechanism includes a second transmission rod, a second transmission sleeve, and a second transmission bevel gear. The second transmission rod is connected to the auto-focus camera, and the second transmission sleeve is slidably arranged on the second transmission rod; the second transmission bevel gear is connected to the end of the second transmission sleeve, and the second transmission bevel gear is in meshing transmission with the driving bevel gear.

[0017] Rectangular rods are arranged at the ends of the first transmission rod and the second transmission rod, and rectangular grooves are arranged inside the first transmission sleeve and the second transmission sleeve. The rectangular grooves are slidably sleeved on the rectangular rods.

[0018] Preferably, the switching mechanism includes an electric push rod, a movable rod, a first pull rod, and a second pull rod. A first hinge block is rotatably provided on the end face of the first transmission bevel gear, and a second hinge block is rotatably provided on the end face of the second transmission bevel gear. The electric push rod is fixed in the working cabin, the movable rod is arranged at the output end of the electric push rod, one end of the first pull rod is hinged to the upper end of the movable rod, and the other end of the first pull rod is hinged to the first hinge block. One end of the second pull rod is hinged to the lower end of the movable rod, and the other end of the second pull rod is hinged to the second hinge block.

[0019] Preferably, the elastic connection mechanism includes a fixed rod, a connection disk, an elastic disk, and rolling protrusions. The fixed rod is fixedly arranged in the working cabin. Both ends of the connection disk are slidably arranged on the fixed rod and are in contact with a first spring sleeved on the fixed rod. The elastic disk is slidably arranged on the connection disk through an insertion rod, and a second spring is sleeved on the insertion rod. Two ends of the second spring are respectively connected to the connection disk and the elastic disk. The rolling protrusions are arranged on both sides of the connection disk and are in rolling contact with the first transmission bevel gear and the second transmission bevel gear. Multiple insertion holes for inserting the insertion rod are arranged on the end face of the driving bevel gear. A ball is rotatably arranged on the rolling protrusion.

[0020] Preferably, the equipment cabin is rotatably connected to the working cabin through a rotating pipe. A limiting disk is arranged at the end of the rotating pipe in the working cabin, and an elastic protrusion is arranged on the limiting disk and is in elastic contact with a groove on the upper wall surface of the working cabin. A conical groove is arranged on the end face of the driving bevel gear.

[0021] Preferably, it further includes a control module. The control module is arranged in the equipment cabin, and the driving motor, the auto-focus camera, and the thermal imaging high-definition camera are respectively electrically connected to the control module. A charging module is arranged on one side of the equipment cabin, and a storage battery is also arranged in the equipment cabin. The charging module and the storage battery are respectively electrically connected to the control module by wires.

[0022] Preferably, it further includes a temperature and humidity sensor. The temperature and humidity sensor is arranged at the front end of the equipment cabin and is electrically connected to the control module. Further, it includes a positioning module. The positioning module is arranged in the equipment cabin for real-time positioning of the inspection robot.

[0023] Compared with the prior art, it has the following beneficial effects:

[0024] In the present invention, by arranging a first transmission mechanism and a second transmission mechanism in the working cabin, and relying on the driving motor arranged in the equipment cabin, the switching mechanism and the elastic connection mechanism arranged in the working cabin, the driving motor can alternately drive the auto-focus camera, the thermal imaging high-definition camera, and the working cabin to rotate independently, so as to realize the work of a single driving motor controlling multiple devices, save energy and increase efficiency, effectively improve its flexibility, and facilitate daily inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only the preferred embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural diagram of the intelligent inspection robot for the power pipe gallery of the present invention;

[0027] Figure 2 It is a schematic internal diagram of the working cabin of the present invention;

[0028] Figure 3 is Figure 2 an enlarged schematic diagram of part A in

[0029] Figure 4 It is a schematic structural diagram of the intelligent inspection robot for the power pipe gallery of the present invention;

[0030] Figure 5 It is a schematic diagram of the switching mechanism of the present invention;

[0031] Figure 6 It is a schematic diagram of the first transmission mechanism and the second transmission mechanism of the present invention;

[0032] Figure 7 It is a schematic diagram of the elastic connection mechanism of the present invention.

[0033] In the figure, 1 - equipment cabin; 10 - traveling mechanism; 11 - rotating pipe; 12 - limit disk;

[0034] 2 - working cabin;

[0035] 3 - drive motor; 31 - driving bevel gear; 32 - jack; 33 - conical groove;

[0036] 4 - auto - zoom camera;

[0037] 5 - first transmission mechanism; 51 - first transmission rod; 52 - first transmission sleeve; 53 - first transmission bevel gear; 54 - first hinge block;

[0038] 6 - thermal imaging high - definition camera;

[0039] 7 - second transmission mechanism; 71 - second transmission rod; 72 - second transmission sleeve; 73 - second transmission bevel gear; 74 - second hinge block;

[0040] 8 - switching mechanism; 81 - electric push rod; 82 - movable rod; 83 - first pull rod; 84 - second pull rod;

[0041] 9 - Elastic connection mechanism; 91 - Fixed rod; 92 - Connection disk; 93 - Elastic disk; 94 - Rolling protrusion; 95 - First spring; 96 - Plug rod; 97 - Second spring; 98 - Ball Detailed implementation mode

[0042] To more easily understand the structure of the present invention and the functional features and advantages that can be achieved, the following will describe the preferred embodiments of the present invention in detail in conjunction with the drawings as follows:

[0043] Embodiment:

[0044] As Figures 1 to 7 shown, the present invention provides an intelligent inspection robot for a power pipe gallery, including an equipment cabin 1 and a traveling mechanism 10 arranged on the equipment cabin 1. The traveling mechanism 10 is arranged on a track to drive the equipment cabin 1 to move on the track; it further includes:

[0045] A working cabin 2, rotatably arranged at the lower end of the equipment cabin 1 to adjust its horizontal position;

[0046] A driving motor 3, arranged in the equipment cabin 1, and a driving bevel gear 31 is arranged at the output end thereof through a connecting shaft. The driving bevel gear 31 is located in the working cabin 2;

[0047] An automatic zoom camera 4, arranged on one side of the working cabin 2 through a first transmission mechanism 5. The first transmission mechanism 5 is in transmission connection with the driving bevel gear 31;

[0048] A thermal imaging high-definition camera 6, arranged on the other side of the working cabin 2 through a second transmission mechanism 7. The second transmission mechanism 7 is in transmission connection with the driving bevel gear 31; <I

[0049] A switching mechanism 8, arranged in the working cabin 2 and respectively hinged to the first transmission mechanism 5 and the second transmission mechanism 7; the switching mechanism 8 makes the first transmission mechanism 5 and the second transmission mechanism 7 separately engage with the driving bevel gear 31 through telescopic movement, and simultaneously disengage from engaging with the driving bevel gear 31;

[0050] When the first transmission mechanism 5 and the second transmission mechanism 7 are simultaneously disengaged from engaging with the driving bevel gear 31, an elastic connection mechanism 9 that simultaneously rolls and abuts against the first transmission mechanism 5 and the second transmission mechanism 7 is inserted into the end face of the driving bevel gear 31, so that the driving motor 3 drives the working cabin 2 fixedly connected to the elastic connection mechanism 9 to rotate.

[0051] See Figure 5 and Figure 6, the first transmission mechanism 5 of the present invention includes a first transmission rod 51, a first transmission sleeve 52, and a first transmission bevel gear 53. The first transmission rod 51 is connected to the auto-focus camera 4, and the first transmission sleeve 52 is slidably disposed on the first transmission rod 51; the first transmission bevel gear 53 is connected to the end of the first transmission sleeve 52, and the first transmission bevel gear 53 meshes with the driving bevel gear 31 for transmission.

[0052] See Figure 5 and Figure 6 , the second transmission mechanism 7 of the present invention includes a second transmission rod 71, a second transmission sleeve 72, and a second transmission bevel gear 73. The second transmission rod 71 is connected to the auto-focus camera 4, and the second transmission sleeve 72 is slidably disposed on the second transmission rod 71; the second transmission bevel gear 73 is connected to the end of the second transmission sleeve 72, and the second transmission bevel gear 73 meshes with the driving bevel gear 31 for transmission.

[0053] See Figure 5 and Figure 6 , rectangular rods are provided at the ends of the first transmission rod 51 and the second transmission rod 71 of the present invention, and rectangular grooves are provided in the first transmission sleeve 52 and the second transmission sleeve 72. The rectangular grooves are slidably sleeved on the rectangular rods, so that the first transmission bevel gear 53 and the second transmission bevel gear 73 can drive the first transmission rod 51 and the second transmission rod 71 to rotate through the first transmission sleeve 52 and the second transmission sleeve 72.

[0054] As another embodiment of the present invention, as Figure 5 and Figure 6As shown in the figure, the switching mechanism 8 of the present invention includes an electric push rod 81, a movable rod 82, a first pull rod 83 and a second pull rod 84. A first hinge block 54 is rotatably provided on the end face of the first transmission bevel gear 53, and a second hinge block 74 is rotatably provided on the end face of the second transmission bevel gear 73. The electric push rod 81 is fixed in the working cabin 2, the movable rod 82 is arranged at the output end of the electric push rod 81, one end of the first pull rod 83 is hinged to the upper end of the movable rod 82, and the other end of the first pull rod 83 is hinged to the first hinge block 54. One end of the second pull rod 84 is hinged to the lower end of the movable rod 82, and the other end of the second pull rod 84 is hinged to the second hinge block 74. The extension of the electric push rod 81 in this application is divided into two levels. When the electric push rod 81 is in the initial state, the first transmission bevel gear 53 is far away from the driving bevel gear 31 and disengages from it, and the second transmission bevel gear 73 meshes with the driving bevel gear 31. At this time, the driving motor 3 independently controls the rotation of the thermal imaging high-definition camera 6. When the electric push rod 81 performs a first-level extension movement, the movable rod 82 pushes the second pull rod 84 to drive the second transmission bevel gear 73 to disengage from the driving bevel gear 31. During this process, the movable rod 82 pulls the first pull rod 83 to drive the first transmission bevel gear 53 to approach the driving bevel gear 31. At this time, the first transmission bevel gear 53 is still in a disengaged state from the driving bevel gear 31, that is, when the electric push rod 81 performs a first-level extension movement, the first transmission bevel gear 53 and the second transmission bevel gear 73 are disengaged from the driving bevel gear 31, and the driving bevel gear 31 is connected to the elastic connection mechanism 9. The driving motor 3 drives the working cabin 2 to rotate through the driving bevel gear 31 to drive the auto-focus camera 4 and the thermal imaging high-definition camera 6 to perform horizontal rotation. When the electric push rod 81 extends to the second level, the first transmission bevel gear 53 meshes with the driving bevel gear 31 to realize the control of the rotation of the auto-focus camera 4 by the driving motor 3.

[0055] See Figure 7, the elastic connection mechanism 9 of the present invention includes a fixed rod 91, a connection disk 92, an elastic disk 93, and rolling protrusions 94. The fixed rod 91 is fixedly arranged in the working cabin 2. Both ends of the connection disk 92 are slidably arranged on the fixed rod 91 and are in contact with a first spring 95 sleeved on the fixed rod 91. The elastic disk 93 is slidably arranged on the connection disk 92 through an insertion rod 96. A second spring 97 is sleeved on the insertion rod 96, and both ends of the second spring 97 are connected to the connection disk 92 and the elastic disk 93 respectively. The rolling protrusions 94 are arranged on both sides of the connection disk 92, and the rolling protrusions 94 are in rolling contact with the first transmission bevel gear 53 and the second transmission bevel gear 73. A plurality of insertion holes 32 for inserting the insertion rod 96 are arranged on the end face of the driving bevel gear 31. A ball 98 is rotatably arranged on the rolling protrusion 94, and the ball 98 is in rolling contact with the first transmission bevel gear 53 and the second transmission bevel gear. When the first transmission bevel gear 53 and the second transmission bevel gear 73 move backward simultaneously, the ball 98 descends to the conical parts of the first transmission bevel gear 53 and the second transmission bevel gear 73, so that the connection disk 92 descends to drive the insertion rod 96 to descend and be inserted into the insertion hole 32 on the driving bevel gear 31, connecting the driving bevel gear 31 with the elastic connection mechanism 9, so that the driving motor 3 can drive the elastic connection mechanism 9 to drive the working cabin 2 to rotate at the lower end of the equipment cabin 1.

[0056] See Figure 3 , the equipment cabin 1 of the present invention is rotatably connected to the working cabin 2 through a rotating pipe 11; specifically, the rotating pipe 1 is rotatably connected to the working cabin 2 through a bearing. A limiting disk 12 is arranged at the end of the rotating pipe 11 inside the working cabin 2, and elastic protrusions are arranged on the limiting disk 12. The elastic protrusions are in elastic contact with the grooves on the upper wall surface of the working cabin 2, so as to elastically pre-tighten the working cabin 2 on the limiting disk 12. Further, a magnetic lock can be used to replace the elastic protrusions and grooves to lock the working cabin 2. The magnetic lock is arranged on the working cabin 2, and the magnetic lock is energized through a wire to make the lock rod disengage from the through hole on the limiting disk 12 to realize the unlocking of the working cabin 2.

[0057] Further, a conical groove 33 can also be arranged on the end face of the driving bevel gear 31. By arranging the conical groove 33, it is convenient for the movable rod 82 to move up and down under the telescopic movement of the electric push rod 81 without interfering with the end face of the driving bevel gear 31.

[0058] As another embodiment of the present invention, as Figure 2 shown, the present invention further includes a control module. The control module is arranged in the equipment cabin 1, and the driving motor 3, the auto-focus camera 4, and the thermal imaging high-definition camera 6 are respectively electrically connected to the control module; a charging module is arranged on one side of the equipment cabin 1, and a storage battery is also arranged in the equipment cabin 1. The charging module and the storage battery are respectively electrically connected to the control module by wires. The charging module is a wireless charging module. The inspection robot moves on the track through the traveling mechanism and stops at the wireless charging place, so that the charging module is directly opposite to the wireless charging coil for wireless charging.

[0059] Further, a temperature and humidity sensor is also included. The temperature and humidity sensor is disposed at the front end of the equipment cabin 1 and is electrically connected to the control module. Further, a positioning module is also included. The positioning module is disposed inside the equipment cabin 1 for real-time positioning of the inspection robot.

[0060] The above is only the preferred embodiment of the present invention and does not impose any formal limitations on the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention or modify it into an equivalent embodiment with equivalent changes without departing from the scope of the technical solution of the present invention. Therefore, any changes, modifications, equivalent changes, and modifications made to the above embodiments based on the technology of the present invention without departing from the content of the technical solution of the present invention all fall within the protection scope of this technical solution.

Claims

1. A smart inspection robot for a power pipe gallery, comprising an equipment cabin (1) and a traveling mechanism (10) arranged on the equipment cabin (1), characterized in that, It further includes: A working cabin (2), rotatably arranged at the lower end of the equipment cabin (1); A driving motor (3), arranged in the equipment cabin (1), with a driving bevel gear (31) provided at its output end, and the driving bevel gear (31) is located in the working cabin (2); An auto-focus camera (4), arranged on one side of the working cabin (2) through a first transmission mechanism (5), and the first transmission mechanism (5) is in transmission connection with the driving bevel gear (31); A thermal imaging high-definition camera (6), arranged on the other side of the working cabin (2) through a second transmission mechanism (7), and the second transmission mechanism (7) is in transmission connection with the driving bevel gear (31); A switching mechanism (8), arranged in the working cabin (2), and is respectively hinged to the first transmission mechanism (5) and the second transmission mechanism (7); the switching mechanism (8) makes the first transmission mechanism (5) and the second transmission mechanism (7) respectively and individually engage with the driving bevel gear (31) through telescopic movement, and simultaneously disengage from engaging with the driving bevel gear (31); When the first transmission mechanism (5) and the second transmission mechanism (7) simultaneously disengage from the driving bevel gear (31), an elastic connection mechanism (9) that simultaneously rolls and abuts against the first transmission mechanism (5) and the second transmission mechanism (7) is inserted into the end face of the driving bevel gear (31), so that the driving motor (3) drives the working cabin (2) fixedly connected to the elastic connection mechanism (9) to rotate.

2. The intelligent inspection robot for power pipe gallery according to claim 1, wherein, The first transmission mechanism (5) includes a first transmission rod (51), a first transmission sleeve (52) and a first transmission bevel gear (53), the first transmission rod (51) is connected to the auto-focus camera (4), and the first transmission sleeve (52) is slidably arranged on the first transmission rod (51); the first transmission bevel gear (53) is connected to the end of the first transmission sleeve (52), and the first transmission bevel gear (53) is in meshing transmission with the driving bevel gear (31).

3. The intelligent inspection robot for the power pipe gallery according to claim 2, wherein The second transmission mechanism (7) includes a second transmission rod (71), a second transmission sleeve (72) and a second transmission bevel gear (73), the second transmission rod (71) is connected to the auto-focus camera (4), and the second transmission sleeve (72) is slidably arranged on the second transmission rod (71); the second transmission bevel gear (73) is connected to the end of the second transmission sleeve (72), and the second transmission bevel gear (73) is in meshing transmission with the driving bevel gear (31).

4. The intelligent inspection robot for power pipe gallery according to claim 3, characterized in that, The switching mechanism (8) includes an electric push rod (81), a movable rod (82), a first pull rod (83) and a second pull rod (84). A first hinge block (54) is rotatably provided on the end face of the first transmission bevel gear (53), and a second hinge block (74) is rotatably provided on the end face of the second transmission bevel gear (73). The electric push rod (81) is fixed in the working cabin (2), the movable rod (82) is arranged at the output end of the electric push rod (81), one end of the first pull rod (83) is hinged to the upper end of the movable rod (82), and the other end of the first pull rod (83) is hinged to the first hinge block (54). One end of the second pull rod (84) is hinged to the lower end of the movable rod (82), and the other end of the second pull rod (84) is hinged to the second hinge block (74).

5. The intelligent inspection robot for power pipe gallery according to claim 4, wherein The elastic connection mechanism (9) includes a fixed rod (91), a connection disk (92), an elastic disk (93) and rolling protrusions (94). The fixed rod (91) is fixedly arranged in the working cabin (2), both ends of the connection disk (92) are slidably arranged on the fixed rod (91) and are in contact with a first spring (95) sleeved on the fixed rod (91). The elastic disk (93) is slidably arranged on the connection disk (92) through an insertion rod (96), a second spring (97) is sleeved on the insertion rod (96), and both ends of the second spring (97) are respectively connected to the connection disk (92) and the elastic disk (93). The rolling protrusions (94) are arranged on both sides of the connection disk (92), and the rolling protrusions (94) are in rolling contact with the first transmission bevel gear (53) and the second transmission bevel gear (73). A plurality of insertion holes (32) for inserting the insertion rod (96) are arranged on the end face of the driving bevel gear (31).

6. The intelligent inspection robot for power pipe gallery according to claim 3, wherein Rectangular rods are arranged at the ends of the first transmission rod (51) and the second transmission rod (71), and rectangular grooves are arranged in the first transmission sleeve (52) and the second transmission sleeve (72). The rectangular grooves are slidably sleeved on the rectangular rods.

7. The intelligent inspection robot for power pipe gallery according to claim 5, wherein, A ball (98) is rotatably arranged on the rolling protrusion (94).

8. The intelligent inspection robot for power pipe gallery according to claim 5, characterized in that, The equipment cabin (1) is rotatably connected to the working cabin (2) through a rotating pipe (11). A limiting disk (12) is arranged at the end of the rotating pipe (11) inside the working cabin (2), and elastic protrusions are arranged on the limiting disk (12). The elastic protrusions are in elastic contact with the grooves on the upper wall surface of the working cabin (2).

9. The intelligent inspection robot for power pipe gallery according to claim 6, wherein, A conical groove (33) is arranged on the end face of the driving bevel gear (31).

10. The intelligent inspection robot for power pipe gallery according to claim 1, wherein, It further includes a control module. The control module is arranged in the equipment cabin (1), and the driving motor (3), the auto-focus camera (4) and the thermal imaging high-definition camera (6) are respectively electrically connected to the control module. A charging module is arranged on one side of the equipment cabin (1), and a storage battery is also arranged in the equipment cabin (1). The charging module and the storage battery are respectively electrically connected to the control module by wires.

Images