Intelligent inspection robot

Abstract

The invention is suitable for the technical field of electric power inspection equipment, and provides an intelligent inspection robot. Comprising a base; the four rolling wheels are arranged on the two sides of the base in an array mode, and the rolling wheels are installed on the base through damping structures; the height-adjustable image acquisition device is mounted on the base and is used for acquiring video data; a radar detector is also arranged on the base; the radar detector and the image acquisition device are both in communication connection with the controller, and the controller is used for judging road conditions based on data collected by the radar detector; and the two cleaning wheels are arranged at the front end of the base. Through cooperation of the sweeping wheels and the damping structures, the sweeping wheels are used for sweeping particles capable of being swept on the ground, the number of times that the rolling wheels pass through the particles in the moving process is reduced, and vibration is reduced; when the rolling wheels meet particles or road ridges which cannot be cleaned, the damping mechanism can effectively absorb vibration, vibration is reduced, various devices on the base are effectively protected, and the service life is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power inspection equipment, and in particular to an intelligent inspection robot. Background Art

[0002] The inspection targets required at the substation site include the inspection of major equipment such as high-voltage explosion-proof switches, low-voltage feeder switches, dry-type mobile transformers, signal lighting comprehensive protection, vacuum magnetic starters, and high-voltage soft starters.

[0003] Various methods are needed to ensure safe production during power generation. Currently, many companies rely on manual inspections for safety checks. However, manual inspections are not only labor-intensive but also inefficient. The use of robots for intelligent inspections is becoming increasingly popular.

[0004] However, due to the problems of its use environment, the existing inspection device has certain bumps during operation, which causes internal equipment vibration after running for a period of time, affecting the service life of the equipment. In order to solve this technical problem, an intelligent inspection robot is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent inspection robot to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: An intelligent inspection robot comprises: a base; Four rollers, four roller arrays are arranged on both sides of the base, and the rollers are mounted on the base through a shock-absorbing structure; a height-adjustable image acquisition device mounted on the base, for collecting video data; A radar detector is also installed on the base; A controller, the radar detector and the image acquisition device are both in communication with the controller, and the controller is used to determine road conditions based on data collected by the radar detector; and two cleaning wheels arranged at the front end of the base.

[0007] Furthermore, a lifting platform is installed on the base, the bottom of the lifting platform is fixedly installed on the base, and the image acquisition device is installed on the lifting platform through a first pan-tilt head.

[0008] Furthermore, the radar detector is a three-dimensional laser radar.

[0009] Furthermore, the controller includes a navigation module, and the navigation module is integrated with an auxiliary laser algorithm; the navigation module may include an inertial navigation module and a code disk.

[0010] Furthermore, the roller is connected to a transmission drawer on the base via a universal shaft, and the transmission drawer is connected to a power component inside the base.

[0011] Furthermore, the shock absorbing structure includes a plurality of shock absorbers, and each roller is mounted on the base via the shock absorber.

[0012] Furthermore, the connecting shaft transmission sleeve of the roller is arranged on the mounting seat, and the mounting seat is connected to the base through an inclined connecting rod. The two ends of the inclined connecting rod are respectively rotatably mounted on the mounting seat and the base through hinges. Each mounting seat is mounted on the base through two connecting rods. A shock absorber is also connected to the mounting seat, and the shock absorber is fixedly mounted on the bottom of the base away from the end of the sweeping wheel.

[0013] The cam is secured to the bottom of the cylinder with a lockable cover, the lockable cover being secured to the top of the cylinder with a lockable cover, the lockable cover being secured to the top of the cylinder with a lockable cover, and the lockable cover being secured to the top of the cylinder with a lockable cover.

[0014] Furthermore, the shock-absorbing structure also includes an anti-overturning structure.

[0015] Furthermore, the anti-overturning structure includes a first interface, a second interface, a third interface and a fourth interface arranged on the closing cover, a resistance rod is fixedly installed on the piston, an anti-overturning flow channel is provided on the closing cover, the output end of the anti-overturning flow channel is connected with the first interface, the output end cover of the closing cover is covered with a closing plug, and the closing plug is located on the track of the resistance rod; the first interface on the closing cover on one side is connected to the throttle hole on the other coaxial closing cover on the other side through a first connecting pipe, the second interface on the closing cover on one side is connected to the third interface on the other coaxial closing cover on the other side through a pressure-isolating pipe, a dividing block is provided in the middle position of the pressure-isolating pipe, and a throttle hole is provided on the dividing block.

[0016] Compared with the prior art, the beneficial effects of the present invention are: through the cooperation of the sweeping wheel and the shock-absorbing structure, the sweeping wheel is used to sweep the particles that can be swept on the ground, reducing the number of times the roller passes through the particles during the movement process, and reducing vibration; when the roller encounters particles that cannot be cleaned or road bumps, the shock-absorbing mechanism can effectively absorb the vibration, reduce vibration, effectively protect various equipment on the base, and increase service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a schematic structural diagram of an intelligent inspection robot according to an embodiment of the present invention.

[0018] Figure 2 The figure is a schematic diagram of the installation structure of the roller in an intelligent inspection robot according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of a shock absorber in an intelligent inspection robot according to an embodiment of the present invention. Figure 1 .

[0020] Figure 4 This is a schematic diagram of the structure of a shock absorber in an intelligent inspection robot according to an embodiment of the present invention. Figure 2 .

[0021] Figure 5 The figure is a schematic diagram of the installation structure of a piston in an intelligent inspection robot according to an embodiment of the present invention.

[0022] Figure 6 The figure is a schematic diagram of the end surface structure of a closing cover in an intelligent inspection robot according to an embodiment of the present invention.

[0023] Figure 7 The figure is a schematic structural diagram of an isobaric tube in an intelligent inspection robot according to an embodiment of the present invention.

[0024] In the figure: 1-base, 2-roller, 3-sweeping wheel, 4-radar detector, 5-controller, 6-lifting platform, 7-image acquisition device, 8-shock absorber, 9-transmission pump, 10-cylinder body, 11-slide rod, 12-elastic member, 13-piston, 14-guide key, 15-guide groove, 16-notch groove, 17-matching ridge, 18-contact rod, 19-closing cover, 20-closing plug, 21-first interface, 22-second interface, 23-same pressure tube, 24-dividing block, 25-throttle hole, 26-third interface, 27-fourth interface, 28-first through hole, 29-elastic telescopic rod, 30-anti-dumping flow channel, 31-medium cavity, 32-mounting seat. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. Example

[0026] See also Figures 1 to 7 , a structural diagram of an intelligent inspection robot provided by an embodiment of the present invention, the intelligent inspection robot includes: a base 1 and four rollers 2, the four rollers 2 are arranged in an array on both sides of the base 1, a height-adjustable image acquisition device 7 is installed on the base 1, and a radar detector 4 and a controller 5 are also provided on the base 1, the radar detector 4 and the image acquisition device 7 are both communicatively connected to the controller 5, the controller 5 is used to judge the road condition based on the data collected by the radar detector 4, and the image acquisition device 7 is used to collect video data so that the controller 5 can transmit the collected inspection video data to the server so that the server can process the data and judge the inspection situation.

[0027] To improve the stability of the present invention's operation, two cleaning wheels 3 are provided at the front end of the base 1. These cleaning wheels 3 are used to clean the area passed by the roller 2, reducing particulate matter and vibration in the area. The roller 2 is mounted on the base 1 via a shock-absorbing structure, thereby reducing further operational vibration. The base 1 is also provided with a rotation mechanism that drives the cleaning wheels 3. The rotation mechanism is in transmission connection with the cleaning wheels 3. The rotation mechanism is prior art and will not be described in detail here.

[0028] The present invention cooperates with the cleaning wheel 3 and the shock-absorbing structure. The cleaning wheel 3 is used to clean the particles that can be cleaned on the ground, reduce the number of times the roller 2 passes through the particles during the movement process, and reduce vibration; when the roller 2 encounters particles that cannot be cleaned or road bumps, the shock-absorbing mechanism can effectively absorb the vibration, reduce vibration, effectively protect various equipment on the base 1, and increase service life.

[0029] like Figure 1 As shown, in some embodiments, a lifting platform 6 is mounted on the base 1. The bottom of the lifting platform 6 is fixedly mounted on the base 1. The image acquisition device 7 is mounted on the lifting platform 6 via a first pan-tilt platform. This allows the image acquisition device 7 to be rotatably mounted on the lifting platform 6, facilitating adjustment of the position of the image acquisition device 7 and expanding the image acquisition angle of the present invention. The image acquisition device 7 has a pan-tilt platform structure, further increasing the range of image acquisition by the image acquisition device 7. The image acquisition device 7 can be a camera. The lifting platform 6 can be a motorized telescopic rod.

[0030] In some embodiments of the present invention, the radar detector 4 may be a three-dimensional laser radar. Compared to two-dimensional lasers, three-dimensional laser radars provide 16 times more point cloud data, enabling the robot to better identify different terrains such as slopes and lawns, as well as low obstacles such as steps, effectively improving the robot's adaptability and positioning accuracy. Hardware stability is enhanced through the customization of industrial-grade controllers (industrial computers) and the selection of high-stability sensors. The vertical angle range of the three-dimensional laser radar is -15° to +15°, evenly distributed at 2° intervals. The 16 lasers in the notch slot are defined as 16 notch slot channels, corresponding to the actual vertical angle.

[0031] In some embodiments of the present invention, the controller 5 includes a navigation module that integrates an auxiliary laser algorithm. The navigation module may include an inertial navigation module and a code disk. The code disk data combined with the inertial navigation module assists the laser algorithm in positioning, preventing the robot from losing its position in the pipeline corridor and effectively improving navigation safety.

[0032] like Figure 2 As shown in some embodiments of the present invention, the roller 2 is connected to a transmission drawer 9 on the base 1 via a universal joint. The transmission drawer 9 is connected to a power component inside the base 1. The power component provides power for the rotation of the roller 2 through the transmission drawer 9. The power component is prior art and will not be described in detail here.

[0033] The shock-absorbing structure includes a plurality of shock absorbers 8 , and each roller 2 is mounted on the base 1 via the shock absorber 8 .

[0034] like Figure 2 As shown, in some embodiments of the present invention, the connecting shaft transmission sleeve of the roller 2 is mounted on a mounting seat 32, which is connected to the base 1 via an inclined connecting rod. The ends of the inclined connecting rod are respectively rotatably mounted on the mounting seat 32 and the base 1 via hinges. Each mounting seat 32 is mounted on the base 1 via two connecting rods. The mounting seat 32 is also connected to a shock absorber 8, and the end of the shock absorber 8 away from the sweeping wheel 3 is fixedly mounted on the bottom of the base 1. In this way, when the roller 2 encounters a bumpy road during driving, the shock absorber 8 is compressed to achieve shock absorption and reduce vibration.

[0035] like Figure 3-Figure 7As shown, in some embodiments of the present invention, the shock absorber 8 includes a cylinder body 10 and a slide rod 11, a closure cover 19 is fixedly installed inside the cylinder body 10, the closure cover 19 and the inside of the cylinder body 10 form a medium cavity 31, a piston 13 is slidably provided inside the medium cavity 31, the outer side of the piston 13 is attached to the side walls around the medium cavity 31, the slide rod 11 sequentially passes through the bottom of the cylinder body 10, the piston 13 and the closure cover 19, the piston 13 is fixedly installed on the slide rod 11, the slide rod 11 is elastically installed on the cylinder body 10 through an elastic member 12, and a guide key 14 is symmetrically provided on the outer side of the piston 13. The inner wall of the pouring channel 30 is provided with two guide grooves 15 along its length. The guide key 14 slides in the adjacent guide grooves 15. A notch 16 is provided on one sidewall of the guide key 14. A mating ridge 17 is provided on the sidewall of the guide groove 15 adjacent to the notch 16. The mating ridge 17 includes a first thickness section and a second thickness section, wherein the first thickness section is thicker than the second thickness section. The mating ridge 17 slides up and down in the notch 16. The mating ridge 17 and the notch 16 form a shock-absorbing damping hole. The notch 16 is located in the first thickness section of the mating ridge 17. The elastic member 12 is sleeved on the outside of the slide rod 11, with its ends fixedly mounted on the slide rod 11 and the cylinder body 10, respectively. The elastic member 12 can be a coil spring.

[0036] Specifically, when the notch 16 is located at the first thickness section of the mating rib 17, the damping orifice is small, providing sufficient damping for the shock absorber 8. When the base 1 encounters minor bumps during driving, sufficient damping can be effectively provided for the base 1, effectively achieving shock absorption. When the base 1 encounters major bumps during driving, due to its relatively stable movement speed, the major bumps need to be absorbed very quickly, otherwise the vibration will be excessive, affecting the service life of the equipment. Therefore, when a major bump occurs, the piston 13 will continue to slide upward. At this time, the notch 16 cooperates with the second thickness section of the mating rib 17, forming a damping orifice with a smaller cross-sectional area. This reduces the number of components, allowing the slide rod 11 to quickly retract into the cylinder body 10, allowing the vibration to be quickly absorbed, and ensuring operational stability. When encountering major bumps, the small damping can effectively absorb the vibration. The small damping can also effectively absorb the vibration during the spring recovery process after absorption. The two working together can avoid the serious rebound problem in the pure small damping shock absorption process.

[0037] like Figure 3-Figure 7As shown, in some embodiments of the present invention, since the base 1 may overturn when the bump exceeds a certain degree, in order to improve safety, the shock-absorbing structure also includes an anti-overturning structure, which includes a first interface 21, a second interface 22, a third interface 26 and a fourth interface 27 arranged on the closing cover 19, a resistance rod 18 is fixedly mounted on the piston 13, and an anti-dumping flow channel 30 is provided on the closing cover 19, and the output end of the anti-dumping flow channel 30 is connected to the first interface 21, and the output end of the closing cover 19 is covered with a closing plug 20, and the closing plug 20 is located on the track of the resistance rod 18; the first interface 21 on one side of the closing cover 19 is connected to the throttle hole 25 on the other coaxial closing cover 19 on the other side through a first connecting pipe, and the second interface 22 on one side of the closing cover 19 is connected to the third interface 26 on the other coaxial closing cover 19 on the other side through a pressure pipe 23, and a dividing block 24 is provided in the middle position of the pressure pipe 23, and a throttle hole 25 is provided on the dividing block 24. The first interface 21, the second interface 22, the third interface 26, and the fourth interface 27 are all connected to the interior of the medium chamber 31. The throttle hole 25 has a relatively small diameter. The first section of the slide rod 11 located below the piston 13 is the first section, and the second section located above the piston 13 is the second section. The diameter of the first section of the slide rod 11 is larger than that of the second section of the slide rod 11. As the piston 13 moves upward, the length of the first section of the slide rod 11 in the medium chamber 31 increases, while the length of the second section of the slide rod 11 in the medium chamber 31 decreases. Since the diameter of the first section is larger than that of the second section of the slide rod 11, the pressure inside the medium chamber 31 increases. The diameter of the second section can be set to 0.

[0038] Specifically, when the bump exceeds a certain value, the piston 13 will continue to slide upward, so that the abutment rod 18 on the piston 13 will abut against the closing plug 20, so that the closing plug 20 will slide relative to the outlet of the anti-dumping flow channel 30, so that the outlet of the anti-dumping flow channel 30 is connected with the inside of the medium cavity 31, and the upper cavities of the medium cavities 31 on both sides of the coaxial axis are connected. Since the overall height of the shock absorber 8 on the side receiving the bump will be raised, the base 1 on this side will be raised upward, and the upper cavities of the medium cavities 31 on both sides are connected. At this time, the upper cavity on the side receiving the bump is the high-pressure side relative to the other side under the action of the piston 13, so that the pressure in the medium cavity 31 on the high-pressure side is transmitted to the medium cavity 31 on the other side. 1, thereby causing the cylinder body 10 on the other side to be lifted upward relative to the elastic member 12, causing the base 1 on the other side to be lifted upward as well, thereby maintaining a stable height difference on both sides of the base 1 and preventing it from tipping over. When the bumping is over, the pistons 13 on both sides are restored to their initial states under the action of the elastic member 12. At the same time, under the action of the second interface 22, the isobaric pipe 23 and other connecting structures, the medium chambers 31 on both sides are restored to their initial pressures. During the bumping process, although the second interface 22 has been connecting the two coaxial medium chambers 31, due to the problem of the aperture of the throttle hole 25 on the dividing block 24, the pressure of the internal space of the medium chambers 31 on both sides is not greatly affected at the moment of the bump.

[0039] In some embodiments of the present invention, the medium cavity 31 is filled with hydraulic oil medium and gaseous medium, the input end of the anti-dumping flow channel 30 is located below the liquid level inside the medium cavity 31, and the second interface 22 is arranged at the inner end of the medium cavity 31 below the liquid level to ensure the pressure on both sides. During normal movement, the pressure inside the medium cavities 31 on both sides changes slowly.

[0040] The working principle of the present invention is: When in use, the radar detector 4 is provided so that the robot can better judge different terrains such as slopes, lawns, and low obstacles such as steps, effectively improving the robot's adaptability and positioning accuracy. During movement, the mounting seat 32 cleans the road surface passed by the roller 2 to reduce bumps. When the base 1 encounters small bumps during driving, it can effectively provide sufficient damping for the base 1 to effectively achieve shock absorption. When the base 1 encounters large bumps during driving, since its moving speed is relatively stable, large bumps need to be absorbed in a very short time. Otherwise, it will cause excessive vibration and affect the service life of the equipment. Therefore, when large bumps occur, the piston 13 will continue to slide upward. At this time, the notch groove 16 cooperates with the second thickness section of the mating ridge 17 to form a damping hole with a larger cross-sectional area. This can reduce components, so that the slide rod 11 can quickly retract into the cylinder body 10, so that the vibration can be quickly absorbed, ensuring the stability of operation. When encountering bumps exceeding a certain level, the piston 13 will continue to slide upward, so that the abutment rod 18 on the piston 13 abuts against the closing plug 20, so that the closing plug 20 is relatively close to the anti-vibration device. The outlet of the dumping channel 30 slides, so that the outlet of the anti-dumping channel 30 is connected with the inside of the medium chamber 31, and the upper chambers of the medium chambers 31 on both sides of the coaxial axis are connected. Since the overall height of the shock absorber 8 on the side that is subject to the bump will be lifted, the base 1 on this side will be lifted upward, and the upper chambers of the medium chambers 31 on both sides are connected. At this time, the upper chamber on the side subject to the bump is the high-pressure side relative to the other side under the action of the piston 13, so that the pressure in the medium chamber 31 on the high-pressure side is transmitted to the upper chamber of the medium chamber 31 on the other side, and the cylinder body 10 on the other side is lifted upward relative to the elastic member 12. This causes the base 1 on the other side to also lift upward, thereby maintaining a stable height difference on both sides of the base 1 and preventing it from tipping over. When the bumping is over, the pistons 13 on both sides return to their initial state under the action of the elastic member 12. At the same time, under the action of the second interface 22, the isobaric pipe 23 and other connecting structures, the medium cavities 31 on both sides return to their initial pressure. During the bumping process, although the second interface 22 has been connecting the two coaxial medium cavities 31, due to the problem of the aperture of the throttle hole 25 on the dividing block 24, the pressure in the internal space of the medium cavities 31 on both sides is not greatly affected at the moment of the bump.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations 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 orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0043] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0044] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0045] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0046] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An intelligent inspection robot, characterized in that: include: base; Four rollers, four roller arrays are arranged on both sides of the base, and the rollers are mounted on the base through a shock-absorbing structure; a height-adjustable image acquisition device mounted on the base, for collecting video data; A radar detector is also installed on the base; A controller, the radar detector and the image acquisition device are both in communication with the controller, and the controller is used to determine road conditions based on data collected by the radar detector; and two cleaning wheels arranged at the front end of the base.

2. The intelligent inspection robot according to claim 1, characterized in that: A lifting platform is installed on the base, the bottom of the lifting platform is fixedly installed on the base, and the image acquisition device is installed on the lifting platform through a first pan-tilt head.

3. The intelligent inspection robot according to claim 2, characterized in that: The radar detector is a three-dimensional laser radar.

4. The intelligent inspection robot according to claim 3, characterized in that: The controller includes a navigation module, and the navigation module is integrated with an auxiliary laser algorithm; the navigation module may include an inertial navigation module and a code disk.

5. The intelligent inspection robot according to claim 1, characterized in that: The roller is connected to a transmission drawer on the base through a universal shaft, and the transmission drawer is connected to a power component inside the base.

6. The intelligent inspection robot according to claim 5, characterized in that: The shock-absorbing structure includes a plurality of shock absorbers, and each roller is mounted on the base through the shock absorber.

7. The intelligent inspection robot according to claim 6, characterized in that: The connecting shaft transmission sleeve of the roller is arranged on the mounting seat, and the mounting seat is connected to the base through an inclined connecting rod. The two ends of the inclined connecting rod are respectively rotatably mounted on the mounting seat and the base through hinges. Each mounting seat is mounted on the base through two connecting rods. A shock absorber is also connected to the mounting seat, and the shock absorber is fixedly mounted on the bottom of the base at one end away from the sweeping wheel.

8. The intelligent inspection robot according to claim 7, characterized in that: The cam is secured to the bottom of the cylinder and has a locking mechanism which allows the cam to lock onto the locking mechanism, and the cam is secured to the bottom of the cylinder with a locking mechanism which allows the cam to lock onto the locking mechanism.

9. The intelligent inspection robot according to claim 8, characterized in that: The shock absorbing structure also includes an anti-overturning structure.

10. The intelligent inspection robot according to claim 9, characterized in that: The anti-overturning structure includes a first interface, a second interface, a third interface and a fourth interface arranged on the closing cover, a resistance rod is fixedly installed on the piston, an anti-overturning flow channel is provided on the closing cover, the output end of the anti-overturning flow channel is connected with the first interface, the output end cover of the closing cover is covered with a closing plug, and the closing plug is located on the track of the resistance rod; the first interface on the closing cover on one side is connected to the throttle hole on the other coaxial closing cover on the other side through a first connecting pipe, the second interface on the closing cover on one side is connected to the third interface on the other coaxial closing cover on the other side through a pressure-isolating pipe, a dividing block is provided in the middle position of the pressure-isolating pipe, and a throttle hole is provided on the dividing block.

Images