Municipal bridge detection robot walking base and detection robot

Abstract

The invention discloses a municipal bridge detection robot walking base and a detection robot, and relates to the technical field of municipal bridge detection. The municipal bridge detection robot walking base comprises a notch annular base, a first notch annular plate, a telescopic structure, a self-locking structure and an adjusting structure, two sets of vertical base plates distributed left and right are arranged in the notch annular base, and two sets of mounting blocking plates are arranged on the vertical base plates; a climbing roller is arranged between the two sets of installation blocking plates, hydraulic rods are arranged on the two sides of the notched annular base correspondingly, a bridge cable is arranged in the notched annular base, the first notched annular plate is fixedly installed on the rear side of the notched annular base, and a camera is fixedly installed on the inner wall of the first notched annular plate. According to the municipal bridge detection robot walking base and the detection robot, the process that the municipal bridge detection robot walking base is arranged on the notch annular base in a sleeving mode is more convenient, meanwhile, the self-locking effect is achieved, and the probability of accidents is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of municipal bridge detection, and in particular to a municipal bridge detection robot walking base and a detection robot. Background Art

[0002] Chinese patent document CN101538830B discloses a bridge cable health inspection robot comprising: an active trolley, a passive trolley, a connecting device, a guide device, and a control device. The active and passive trolleys have opposing wheels connected by a connecting device, with the wheels clamping the bridge cable. The active trolley pulls the passive trolley via a guide device, and the control device is mounted on the active trolley. The beneficial technical effects of this invention include a compact structure, small size, light weight, easy operation, flexible movement, and a strong load capacity. It can carry various types of inspection and maintenance equipment, enabling unmanned inspection and painting of long-length stay cables, and has a wide range of applications.

[0003] The above-mentioned bridge cable health inspection robot has a very cumbersome and inconvenient operation process of putting the robot on the bridge cable during use, and does not have a good self-locking effect. There is a certain probability of accidents, which reduces the safety of the robot. Now a municipal bridge inspection robot walking base and inspection robot are proposed. Summary of the Invention

[0004] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide a walking base and an inspection robot for a municipal bridge inspection robot, which can solve the problem that the operation process of the robot being put on the bridge cable during use is very cumbersome and inconvenient, and does not have a good self-locking effect, has a certain probability of accidents, and reduces the safety of the robot.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a walking base of a municipal bridge inspection robot, comprising a notched annular base, a first notched annular plate, a telescopic structure, a self-locking structure and an adjustment structure, two groups of vertical base plates distributed left and right are arranged inside the notched annular base, two groups of mounting plugs are arranged on the vertical base plates, a climbing roller is arranged between the two groups of mounting plugs, hydraulic rods are arranged on both sides of the notched annular base, a bridge cable is arranged inside the notched annular base, the first notched annular plate is fixedly installed on the rear side of the notched annular base, and a camera is fixedly installed on the inner wall of the first notched annular plate. The head, a second notched annular plate is fixedly installed on the front side of the notched annular base, a positioning structure is provided on the second notched annular plate, a semi-annular closing strip is provided on the first notched annular plate and the second notched annular plate, a telescopic structure is provided on the first notched annular plate, the second notched annular plate and the semi-annular closing strip, the telescopic structure is used to drive the movement of the semi-annular closing strip, the self-locking structure is provided on the first notched annular plate and the second notched annular plate, the self-locking structure is used to position the semi-annular closing strip, the adjustment structure is provided on the vertical base plate and the two sets of mounting plugging plates, and the adjustment structure is used to adjust the distance between the two sets of mounting plugging plates.

[0006] Preferably, a cylindrical block is rotatably mounted on the inner wall of the mounting block, one end of the cylindrical block is fixedly connected to a square block, a rubber pad is fixedly mounted on the outer wall of the climbing roller, a square groove is provided on the climbing roller, the square block is inserted into the square groove, the driving motor is fixedly mounted on the bottom of the lower mounting block, the rotating shaft of the driving motor is fixedly connected to a connecting rod, one end of the connecting rod passes through the lower mounting block and is fixedly connected to a group of square blocks.

[0007] Preferably, flat gasket grooves are provided on both sides of the notched annular base, the hydraulic rod is fixedly installed on the flat gasket grooves, the free end of the hydraulic rod passes through the notched annular base and is fixedly connected to the vertical base plate, and two groups of through holes are provided on both sides of the notched annular base and distributed up and down, and horizontal positioning columns are slidably installed in the through holes, and one end of the horizontal positioning column is fixedly connected to the vertical base plate.

[0008] Preferably, protective covers are provided on both sides of the notched annular base, the protective covers are fixedly mounted on the flat gasket groove, and the hydraulic rod and the transverse positioning column are both located inside the protective covers.

[0009] Preferably, the first notched annular plate and the second notched annular plate are both provided with arc grooves, a positioning slide is fixedly installed on the outer wall of the semi-annular closing strip, the semi-annular closing strip and the positioning slide are slidably installed in the arc grooves, and a slope is provided on the semi-annular closing strip.

[0010] Preferably, the telescopic structure includes a semi-annular rack, a linkage rod, a driving gear, a driving motor and a driving rod. A trapezoidal locking opening is provided on the semi-annular closing strip. The semi-annular rack is fixedly mounted on the outer wall of the semi-annular closing strip. The semi-annular rack contacts the inner wall of the arc-shaped groove. The linkage rod is rotatably mounted on the inner wall of the arc-shaped groove. The driving gear is fixedly mounted on one end of the linkage rod. The driving gear is meshed with the semi-annular rack. The driving motor is divided into two groups and is respectively fixedly mounted on the rear side of the first notch annular plate and the front side of the second notch annular plate. The rotating shaft of the driving motor is fixedly connected to the driving rod. One end of the driving rod extends into the arc groove and is fixedly connected to the linkage rod.

[0011] Preferably, the self-locking structure includes a hollow box body, a movable slide, a trapezoidal locking column, a spring, a pulling rod and a pulling ring. The outer walls of the first notched annular plate and the second notched annular plate are both provided with flat gasket openings. The hollow box body is fixedly mounted on the flat gasket openings. The movable slide is slidably mounted inside the hollow box body. The trapezoidal locking column is fixedly mounted on the bottom of the movable slide. The first notched annular plate and the second notched annular plate are both provided with rectangular grooves. One end of the trapezoidal locking column passes through the rectangular groove and is inserted into the trapezoidal locking opening. The spring is fixedly mounted between the top of the movable slide and the inside of the hollow box body. One end of the pulling rod passes through the hollow box body and is fixedly connected to the movable slide. The other end of the pulling rod is fixedly connected to the pulling ring.

[0012] Preferably, the positioning structure includes a mounting base block, a threaded rod, a rotating handle, a connecting base and a positioning ball. The mounting base block is arranged on the front side of the second notched annular plate. The threaded rod is threadedly installed on the mounting base block. One end of the threaded rod is fixedly connected to the connecting base. A movable groove is provided on the connecting base. The positioning ball is movably installed in the movable groove. The other end of the threaded rod is fixedly connected to the rotating handle.

[0013] Preferably, a rectangular block is fixedly installed on the front side of the second notched annular plate, a rectangular opening is opened on the mounting base block, the rectangular block is inserted into the rectangular opening, a circular hole is opened on the mounting base block, and a hexagonal bolt is set on the outer wall of the rectangular block, one end of the hexagonal bolt passes through the circular hole and is threadedly connected to the rectangular block.

[0014] Preferably, the adjustment structure includes a bidirectional screw, a convex slider and a brake motor. A convex groove is provided on the vertical base plate. The bidirectional screw is rotatably installed in the convex groove. There are two groups of convex sliders and both are slidably installed in the convex groove. The two groups of convex sliders are threadedly sleeved on the outer wall of the bidirectional screw. The mounting plate is fixedly connected to the convex slider. The brake motor is fixedly installed at the bottom of the vertical base plate. The rotating shaft of the brake motor extends into the convex groove and is fixedly connected to the bidirectional screw.

[0015] A detection robot comprises the above-mentioned municipal bridge detection robot walking base.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The walking base and inspection robot of the municipal bridge inspection robot, through the coordinated use of a semi-annular rack, a linkage rod, a driving gear, a driving motor, a driving rod, a trapezoidal locking port, a hollow box body, a moving slide plate, a trapezoidal locking column, a spring, a pulling rod and a pulling ring, can, on the one hand, drive the semi-annular closing strip to move and close the gaps on the first notch ring plate and the second notch ring plate, making the process of setting it on the notch ring base more convenient and eliminating the need for manual operation, thereby improving the convenience of using the robot; on the other hand, the semi-annular closing strip can be self-locked after it is moved to a suitable position to prevent it from loosening during use, thereby reducing the probability of accidents, improving the safety of using the robot and enhancing the practicality of the robot.

[0018] (2) The walking base and inspection robot of the municipal bridge inspection robot, through the coordinated use of the vertical base plate, bidirectional screw, convex slider, brake motor, hydraulic rod, horizontal positioning column, installation plug, climbing roller, cylindrical block, square block, drive motor and connecting rod, can, on the one hand, drive the two sets of climbing rollers to approach each other and fit tightly against the outer wall of the bridge cable, and at the same time, can drive the rotation of the climbing roller to realize the climbing movement of the robot, thereby realizing the automatic inspection operation of the bridge cable. On the other hand, it can adjust the distance between the two sets of installation plugs, and the disassembly and assembly of the climbing roller is also relatively convenient, which is convenient for replacing the corresponding climbing roller according to the size of the bridge cable, thereby improving the application range and maneuverability of the robot.

[0019] (3) The walking base and inspection robot of the municipal bridge inspection robot are conveniently driven to contact the outer wall of the bridge cable by installing the base block, threaded rod, rotating handle, connecting base, positioning ball and hexagonal bolt, so as to position the robot as a whole, reduce the deviation or even shaking during the movement process, and improve the reliability and practicality of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0021] Figure 1 A perspective view of the present invention;

[0022] Figure 2 is a rear perspective view of the present invention;

[0023] Figure 3 It is a front cutaway perspective view of the present invention;

[0024] Figure 4 A front sectional perspective view of a semi-annular sealing strip according to the present invention;

[0025] Figure 5 A perspective view of a vertical base plate of the present invention;

[0026] Figure 6 A three-dimensional diagram of a square block of the present invention;

[0027] Figure 7 A top perspective view of the telescopic structure of the present invention;

[0028] Figure 8 It is a three-dimensional diagram of the self-locking structure of the present invention;

[0029] Figure 9 It is a rear perspective view of the positioning structure of the present invention.

[0030] Figure numerals: 1, notched annular base; 2, first notched annular plate; 3, second notched annular plate; 4, semi-annular closing strip; 5, telescopic structure; 51, semi-annular rack; 52, linkage rod; 53, driving gear; 54, driving motor; 55, driving rod; 56, trapezoidal locking port; 6, self-locking structure; 61, hollow box body; 62, movable slide; 63, trapezoidal locking plug column; 64, spring; 65, pulling rod; 66, pulling ring; 7, positioning structure; 71, mounting base ; 72. Threaded rod; 73. Rotating handle; 74. Connecting base; 75. Positioning ball; 8. Vertical base plate; 9. Adjustment structure; 91. Bidirectional screw; 92. Convex slider; 93. Brake motor; 10. Hexagonal bolt; 11. Hydraulic rod; 12. Horizontal positioning column; 13. Mounting block; 14. Climbing roller; 15. Cylindrical block; 16. Square block; 17. Drive motor; 18. Connecting rod; 19. Positioning slide; 20. Protective cover; 21. Camera; 22. Bridge cable. DETAILED DESCRIPTION

[0031] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention.

[0032] See also Figure 1-9The present invention provides a technical solution: a walking base of a municipal bridge inspection robot, comprising a notched annular base 1, a first notched annular plate 2, a telescopic structure 5, a self-locking structure 6 and an adjustment structure 9, two groups of vertical base plates 8 distributed left and right are arranged inside the notched annular base 1, two groups of mounting plugging plates 13 are arranged on the vertical base plates 8, a climbing roller 14 is arranged between the two groups of mounting plugging plates 13, hydraulic rods 11 are arranged on both sides of the notched annular base 1, a bridge cable 22 is arranged inside the notched annular base 1, the first notched annular plate 2 is fixedly installed on the rear side of the notched annular base 1, a camera 21 is fixedly installed on the inner wall of the first notched annular plate 2, and the notched annular base 1 has a plurality of vertical base plates 8, each of which is provided with a plurality of vertical base plates 8. A second notched annular plate 3 is fixedly installed on the front side of the ring-shaped base 1, and a positioning structure 7 is provided on the second notched annular plate 3. A semi-annular closing strip 4 is provided on both the first notched annular plate 2 and the second notched annular plate 3. A telescopic structure 5 is provided on the first notched annular plate 2, the second notched annular plate 3 and the semi-annular closing strip 4. The telescopic structure 5 is used to drive the movement of the semi-annular closing strip 4. A self-locking structure 6 is provided on the first notched annular plate 2 and the second notched annular plate 3. The self-locking structure 6 is used to position the semi-annular closing strip 4. An adjustment structure 9 is provided on the vertical base plate 8 and the two sets of mounting plugs 13. The adjustment structure 9 is used to adjust the distance between the two sets of mounting plugs 13.

[0033] A cylindrical block 15 is rotatably installed on the inner wall of the mounting block 13, and one end of the cylindrical block 15 is fixedly connected to a square block 16. A rubber pad is fixedly installed on the outer wall of the climbing drum 14. A square groove is provided on the climbing drum 14, and the square block 16 is inserted into the square groove. The driving motor 17 is fixedly installed on the bottom of the lower mounting block 13. The rotating shaft of the driving motor 17 is fixedly connected to a connecting rod 18. One end of the connecting rod 18 passes through the lower mounting block 13 and is fixedly connected to a group of square blocks 16. Flat gasket grooves are provided on both sides of the notched annular base 1, and the hydraulic rod 11 is fixedly installed on the flat gasket groove. The free end of the hydraulic rod 11 passes through the notched annular base 1 and is connected to the vertical base plate. 8 is fixedly connected, two groups of through holes are provided on both sides of the notched annular base 1 and are distributed up and down, and a horizontal positioning column 12 is slidably installed in the through hole, and one end of the horizontal positioning column 12 is fixedly connected to the vertical base plate 8, and a protective cover 20 is provided on both sides of the notched annular base 1, and the protective cover 20 is fixedly installed on the flat pad groove. The hydraulic rod 11 and the horizontal positioning column 12 are both located inside the protective cover 20, and an arc groove is provided on the first notched annular plate 2 and the second notched annular plate 3. A positioning slide 19 is fixedly installed on the outer wall of the semi-annular closing strip 4, and the semi-annular closing strip 4 and the positioning slide 19 are slidably installed in the arc groove, and a slope is provided on the semi-annular closing strip 4.

[0034] The telescopic structure 5 includes a semi-annular rack 51, a linkage rod 52, a driving gear 53, a driving motor 54 and a driving rod 55. A trapezoidal locking opening 56 is provided on the semi-annular closing strip 4. The semi-annular rack 51 is fixedly mounted on the outer wall of the semi-annular closing strip 4. The semi-annular rack 51 contacts the inner wall of the arc groove. The linkage rod 52 is rotatably mounted on the inner wall of the arc groove. The driving gear 53 is fixedly mounted on one end of the linkage rod 52. The driving gear 53 is meshed with the semi-annular rack 51. The driving motor 54 is divided into two groups and is respectively fixedly mounted on the rear side of the first notched annular plate 2 and the front side of the second notched annular plate 3. The rotating shaft of the driving motor 54 is fixedly connected to the driving rod 55. One end of the rod 55 extends into the arc groove and is fixedly connected to the linkage rod 52. The self-locking structure 6 includes a hollow box body 61, a movable slide 62, a trapezoidal locking pin 63, a spring 64, a pulling rod 65 and a pulling ring 66. The outer walls of the first notched annular plate 2 and the second notched annular plate 3 are both provided with flat gaskets. The hollow box body 61 is fixedly mounted on the flat gasket, and the movable slide 62 is slidably mounted inside the hollow box body 61. The trapezoidal locking pin 63 is fixedly mounted on the bottom of the movable slide 62. A rectangular groove is provided on the first notched annular plate 2 and the second notched annular plate 3. One end of the trapezoidal locking pin 63 passes through the rectangular groove and is inserted into the trapezoidal locking port 56. The spring 64 is fixed It is fixedly installed between the top of the moving slide 62 and the inside of the hollow box body 61, one end of the pulling rod 65 passes through the hollow box body 61 and is fixedly connected to the moving slide 62, and the other end of the pulling rod 65 is fixedly connected to the pulling ring 66. The pulling ring 66 is held and pulled to move the moving slide 62 and the trapezoidal locking pin 63, and then the trapezoidal locking pin 63 automatically disengages from the trapezoidal locking port 56, and then the driving motor 54 is controlled to drive the driving rod 55 and the linkage rod 52 to rotate counterclockwise, and then the driving gear 53 is engaged to drive the semi-annular rack 51 and the semi-annular closing strip 4 to move, so that the semi-annular closing strip 4 can be stored, and then the robot is put on the camera 21 The outer wall of the robot is then controlled to drive the driving motor 54 to extend the semi-annular closing strip 4 outward, and then the driving gear 53 is automatically stuck in the trapezoidal locking opening 56. On the one hand, it can drive the semi-annular closing strip 4 to move and close the gaps on the first notched annular plate 2 and the second notched annular plate 3, making the process of sleeved on the notched annular base 1 more convenient, without manual operation, thereby improving the ease of use of the robot. On the other hand, the semi-annular closing strip 4 can be self-locked after it is moved to the appropriate position to prevent it from loosening during use, reducing the probability of accidents, improving the safety of the robot, and enhancing the practicality of the robot.

[0035] The positioning structure 7 includes a mounting base 71, a threaded rod 72, a rotating handle 73, a connecting base 74 and a positioning ball 75. The mounting base 71 is arranged on the front side of the second notched annular plate 3, the threaded rod 72 is threadedly mounted on the mounting base 71, one end of the threaded rod 72 is fixedly connected to the connecting base 74, a movable groove is provided on the connecting base 74, and the positioning ball 75 is movably installed in the movable groove, the other end of the threaded rod 72 is fixedly connected to the rotating handle 73, a rectangular block 23 is fixedly installed on the front side of the second notched annular plate 3, a rectangular block 23 is provided on the mounting base 71, and a rectangular The rectangular block 23 is inserted into the rectangular opening, and a circular hole is opened on the mounting base block 71. The outer wall of the rectangular block 23 is provided with a hexagonal bolt 10. One end of the hexagonal bolt 10 passes through the circular hole and is threadedly connected to the rectangular block 23. Afterwards, the rotating handle 73 is held by hand to twist the movement of the threaded rod 72, and the positioning ball 75 is immediately driven to contact the bridge cable 22, which is convenient for driving the four groups of positioning balls 75 to contact the outer wall of the bridge cable 22. The robot can be positioned as a whole, reducing the offset or even shaking during the movement process, and improving the reliability and practicality of the robot.

[0036] The adjustment structure 9 includes a bidirectional screw rod 91, a convex slider 92 and a brake motor 93. A convex groove is provided on the vertical base plate 8. The bidirectional screw rod 91 is rotatably installed in the convex groove. The convex slider 92 is two groups and both are slidably installed in the convex groove. The two groups of convex sliders 92 are threadedly sleeved on the outer wall of the bidirectional screw rod 91. The mounting plate 13 is fixedly connected to the convex slider 92. The brake motor 93 is fixedly installed at the bottom of the vertical base plate 8. The rotating shaft of the brake motor 93 extends into the convex groove and is fixedly connected to the bidirectional screw rod 91. The two groups of hydraulic rods 11 are controlled to drive the movement of the two groups of vertical base plates 8 respectively, and then the two groups of climbing rollers 14 are automatically clamped on the bridge cable 22, and then the two groups of The driving motor 17 drives the two groups of climbing rollers 14 to rotate clockwise and counterclockwise respectively, which can drive the robot to climb on the bridge cable 22, and at the same time control the camera 21 to monitor the surface of the bridge cable 22. On the one hand, it can drive the two groups of climbing rollers 14 to approach each other and fit tightly against the outer wall of the bridge cable 22, and at the same time drive the rotation of the climbing rollers 14 to realize the climbing movement of the robot, thereby realizing the automatic detection operation of the bridge cable 22. On the other hand, it can adjust the distance between the two groups of mounting blocks 13, and the disassembly and assembly of the climbing rollers 14 is also relatively convenient, which makes it convenient to replace the corresponding climbing rollers 14 according to the size of the bridge cable 22, thereby improving the applicability and maneuverability of the robot.

[0037] A detection robot comprises the above-mentioned municipal bridge detection robot walking base.

[0038] Working principle: Hand-held pulling ring 66 pulls the moving slide 62 and the trapezoidal locking pin 63 to move, and then the trapezoidal locking pin 63 automatically disengages from the trapezoidal locking opening 56, and then controls the driving motor 54 to drive the driving rod 55 and the linkage rod 52 to rotate counterclockwise, and then drives the semi-annular rack 51 and the semi-annular closing strip 4 to move through the engagement of the driving gear 53, so that the semi-annular closing strip 4 can be stored, and then the robot is put on the outer wall of the camera 21, and then controls the driving motor 54 to extend the semi-annular closing strip 4 outward, and then drives the gear 53 to automatically get stuck in the trapezoidal locking opening 56 ... the robot is put on the outer wall of the camera 21, and then the robot is put on the outer wall of the camera 21, and then controls the driving motor 54 to extend the semi-annular closing strip 4 outward, and then drives the gear 5 Then, hold the rotating handle 73 to turn the threaded rod 72 to move, and then drive the positioning ball 75 to contact the bridge cable 22. Then control the two sets of hydraulic rods 11 to drive the movement of the two sets of vertical base plates 8 respectively, and then the two sets of climbing rollers 14 are automatically clamped on the bridge cable 22. After that, hold the rotating handle 73 to turn the threaded rod 72 to move, and then drive the positioning ball 75 to contact the bridge cable 22. Then control the two sets of drive motors 17 to drive the two sets of climbing rollers 14 to rotate clockwise and counterclockwise respectively, which can drive the robot to climb on the bridge cable 22, and at the same time control the camera 21 to monitor the surface of the bridge cable 22.

[0039] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the technical field without departing from the scope of the present invention.

Claims

1. A walking base of a municipal bridge inspection robot, characterized in that: include: A notched annular base (1) is provided with two groups of vertical base plates (8) distributed on the left and right sides, two groups of mounting plugs (13) are provided on the vertical base plates (8), a climbing roller (14) is provided between the two groups of mounting plugs (13), hydraulic rods (11) are provided on both sides of the notched annular base (1), and a bridge cable (22) is provided inside the notched annular base (1); A first notched annular plate (2) is fixedly mounted on the rear side of the notched annular base (1); a camera (21) is fixedly mounted on the inner wall of the first notched annular plate (2); a second notched annular plate (3) is fixedly mounted on the front side of the notched annular base (1); a positioning structure (7) is provided on the second notched annular plate (3); and semi-annular sealing strips (4) are provided on both the first notched annular plate (2) and the second notched annular plate (3); a telescopic structure (5) disposed on the first notched annular plate (2), the second notched annular plate (3), and the semi-annular sealing strip (4), the telescopic structure (5) being used to drive the movement of the semi-annular sealing strip (4); A self-locking structure (6) is provided on the first notched annular plate (2) and the second notched annular plate (3), the self-locking structure (6) being used to position the semi-annular sealing strip (4); An adjustment structure (9) is provided on the vertical base plate (8) and the two sets of mounting plugs (13), and the adjustment structure (9) is used to adjust the distance between the two sets of mounting plugs (13).

2. The walking base of a municipal bridge inspection robot according to claim 1, characterized in that: A cylindrical block (15) is rotatably mounted on the inner wall of the mounting block (13), one end of the cylindrical block (15) is fixedly connected to a square block (16), a rubber pad is fixedly mounted on the outer wall of the climbing roller (14), a square groove is provided on the climbing roller (14), the square block (16) is inserted into the square groove, a driving motor (17) is fixedly mounted on the bottom of the lower mounting block (13), a rotating shaft of the driving motor (17) is fixedly connected to a connecting rod (18), one end of the connecting rod (18) passes through the lower mounting block (13) and is fixedly connected to a group of square blocks (16).

3. The walking base of a municipal bridge inspection robot according to claim 2, characterized in that: Flat gasket grooves are provided on both sides of the notched annular base (1), and a hydraulic rod (11) is fixedly mounted on the flat gasket grooves. The free end of the hydraulic rod (11) passes through the notched annular base (1) and is fixedly connected to the vertical base plate (8). Two groups of through holes are provided on both sides of the notched annular base (1) and are distributed vertically. A transverse positioning column (12) is slidably mounted in the through hole, and one end of the transverse positioning column (12) is fixedly connected to the vertical base plate (8).

4. The walking base of a municipal bridge inspection robot according to claim 3, characterized in that: Protective covers (20) are provided on both sides of the notched annular base (1). The protective covers (20) are fixedly mounted on the flat gasket groove, and the hydraulic rod (11) and the transverse positioning column (12) are both located inside the protective covers (20).

5. The walking base of a municipal bridge inspection robot according to claim 4, characterized in that: The first notched annular plate (2) and the second notched annular plate (3) are both provided with arc grooves, a positioning slide (19) is fixedly mounted on the outer wall of the semi-annular closing strip (4), the semi-annular closing strip (4) and the positioning slide (19) are slidably mounted in the arc grooves, and a sloped opening is provided on the semi-annular closing strip (4).

6. The walking base of a municipal bridge inspection robot according to claim 5, characterized in that: The telescopic structure (5) comprises a semi-annular rack (51), a linkage rod (52), a driving gear (53), a driving motor (54) and a driving rod (55). A trapezoidal locking opening (56) is provided on the semi-annular closing strip (4). The semi-annular rack (51) is fixedly mounted on the outer wall of the semi-annular closing strip (4). The semi-annular rack (51) contacts the inner wall of the arc groove. The linkage rod (52) is rotatably mounted on the inner wall of the arc groove. The driving gear (53) is fixedly mounted on one end of the linkage rod (52). The driving gear (53) is meshed with the semi-annular rack (51). The driving motor (54) is provided in two groups and is respectively fixedly mounted on the rear side of the first notched annular plate (2) and the front side of the second notched annular plate (3). The rotating shaft of the driving motor (54) is fixedly connected to the driving rod (55). One end of the driving rod (55) extends into the arc groove and is fixedly connected to the linkage rod (52).

7. The walking base of a municipal bridge inspection robot according to claim 6, characterized in that: The self-locking structure (6) includes a hollow box body (61), a movable slide (62), a trapezoidal locking pin (63), a spring (64), a pulling rod (65) and a pulling ring (66). The outer walls of the first notched annular plate (2) and the second notched annular plate (3) are both provided with flat gaskets. The hollow box body (61) is fixedly mounted on the flat gaskets. The movable slide (62) is slidably mounted inside the hollow box body (61). The trapezoidal locking pin (63) is fixedly mounted on the outer wall of the movable slide (62). At the bottom, a rectangular groove is provided on the first notched annular plate (2) and the second notched annular plate (3), one end of the trapezoidal locking pin (63) passes through the rectangular groove and is inserted into the trapezoidal locking opening (56), a spring (64) is fixedly installed between the top of the movable slide (62) and the inside of the hollow box body (61), one end of the pulling rod (65) passes through the hollow box body (61) and is fixedly connected to the movable slide (62), and the other end of the pulling rod (65) is fixedly connected to the pulling ring (66).

8. The walking base of a municipal bridge inspection robot according to claim 7, characterized in that: The positioning structure (7) includes a mounting base (71), a threaded rod (72), a rotating handle (73), a connecting base (74) and a positioning ball (75), wherein the mounting base (71) is arranged on the front side of the second notched annular plate (3), the threaded rod (72) is threadedly mounted on the mounting base (71), one end of the threaded rod (72) is fixedly connected to the connecting base (74), a movable groove is provided on the connecting base (74), the positioning ball (75) is movably mounted in the movable groove, the other end of the threaded rod (72) is fixedly connected to the rotating handle (73), a rectangular block (23) is fixedly mounted on the front side of the second notched annular plate (3), a rectangular opening is provided on the mounting base (71), the rectangular block (23) is inserted into the rectangular opening, a circular hole is provided on the mounting base (71), and a hexagonal bolt (10) is provided on the outer wall of the rectangular block (23), one end of the hexagonal bolt (10) passes through the circular hole and is threadedly connected to the rectangular block (23).

9. The walking base of a municipal bridge inspection robot according to claim 8, characterized in that: The adjustment structure (9) includes a bidirectional screw (91), a convex slider (92) and a brake motor (93). A convex groove is provided on the vertical base plate (8). The bidirectional screw (91) is rotatably installed in the convex groove. The convex sliders (92) are two groups and are both slidably installed in the convex groove. The two groups of convex sliders (92) are both threadedly sleeved on the outer wall of the bidirectional screw (91). The mounting plate (13) is fixedly connected to the convex slider (92). The brake motor (93) is fixedly installed on the bottom of the vertical base plate (8). The rotating shaft of the brake motor (93) extends into the convex groove and is fixedly connected to the bidirectional screw (91).

10. A detection robot, characterized in that: It includes a walking base of a municipal bridge inspection robot as described in claims 1-9 above.

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