Inspection robot

Abstract

The invention relates to an inspection robot which comprises a bearing seat, a camera module, a moving mechanism, a mounting module, an impact part and a first driving module, and the camera module is arranged on the bearing seat; the moving mechanism is arranged on the bearing seat; the mounting module is arranged on the bearing seat and provided with a mounting channel, and an impact surface is arranged at one end, away from the moving mechanism, of the mounting channel; the impact piece is arranged in the mounting channel and can reciprocate in the axis direction of the mounting channel; and the first driving module is used for driving the impact piece to move in the mounting channel, so that the impact piece can impact the impact surface. Compared with the prior art, the inspection robot has the advantages that the bearing seat has upward kinetic energy through the impact of the impact piece, so that the inspection robot has an obstacle crossing function, the inspection robot does not need to bypass obstacles, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of patrol inspection, and in particular to a patrol inspection robot. Background Art

[0002] Wheeled inspection robots are widely used in geological exploration, environmental monitoring, disaster relief and many other fields. Although they have stable driving performance on flat ground, when encountering gullies or obstacles, due to the limitations of their own structure, they may fall into the gullies or be unable to cross the obstacles, which in turn limits their mobility.

[0003] In traditional technology, wheeled inspection robots are usually required to bypass ditches or obstacles. However, this approach will reduce the inspection efficiency of the wheeled inspection robots. Summary of the Invention

[0004] Based on this, it is necessary to provide an inspection robot to address the problem that wheeled inspection robots in traditional technologies need to avoid gullies or obstacles, resulting in low inspection efficiency.

[0005] The technical solution is as follows:

[0006] One embodiment provides an inspection robot, comprising:

[0007] bearing seat;

[0008] A camera module, the camera module being arranged on the supporting seat;

[0009] A moving mechanism, the moving mechanism being arranged on the supporting seat;

[0010] A mounting module, the mounting module being arranged on the bearing seat and provided with a mounting channel, wherein an end of the mounting channel away from the moving mechanism is provided with a collision surface;

[0011] an impact member, the impact member being disposed in the installation channel and being capable of reciprocating along an axial direction of the installation channel; and

[0012] A first driving module is used to drive the impact member to move in the installation channel so that the impact member can impact the impact surface.

[0013] The above-mentioned inspection robot, the moving mechanism drives the supporting seat and the camera module on the supporting seat to move for collecting images. When the inspection robot encounters an obstacle during movement, the first driving module drives the impact member to move to impact the impact surface in the installation channel, so that the installation module has upward kinetic energy, thereby driving the supporting seat to move upward, so that the inspection robot crosses the obstacle; compared with traditional technology, the above-mentioned inspection robot uses the impact of the impact member to make the supporting seat have upward kinetic energy, thereby making the inspection robot have an obstacle crossing function, and the inspection robot does not need to bypass the obstacle, thereby improving the inspection efficiency.

[0014] In one embodiment, the installation module includes a mounting tube, the installation channel is provided in the mounting tube, and the impact surface is provided at one end of the mounting tube.

[0015] In one embodiment, the mounting cylinder includes a first cylinder and a second cylinder, one end of the first cylinder is provided with the impact surface, the other end of the first cylinder is sleeved on the outside of the second cylinder, and the second cylinder is connected to the moving mechanism and can move back and forth along the axial direction of the first cylinder.

[0016] In one embodiment, the impact member includes a conductor capable of reciprocating between the first cylinder and the second cylinder, and the first driving module includes an electromagnetic acceleration coil wound around an outer wall of the second cylinder.

[0017] In one embodiment, the inspection robot also includes a supporting mechanism, which includes a first leg, a second leg and a second driving module. The first leg is rotatably provided on the supporting seat, and the second leg is provided with a first connecting portion and a second connecting portion along its own length direction. The first connecting portion is rotatably connected to the second cylinder, and the second connecting portion is rotatably connected to the first leg. The moving mechanism is provided on the second leg, and the second driving module is used to drive the first leg to rotate relative to the supporting seat.

[0018] In one embodiment, the second leg is further provided with a third connecting portion, and the third connecting portion is located on a side of the second connecting portion away from the first connecting portion. The support mechanism also includes a third leg, one end of the third leg is rotatably provided on the bearing seat, and the other end of the third leg is rotatably provided on the third connecting portion.

[0019] In one embodiment, the moving mechanism includes a rotating wheel, and the rotating wheel is rotatably provided on the second leg.

[0020] In one embodiment, the moving mechanism further includes a third driving module, which is disposed on the second leg and is drivingly connected to the rotating wheel.

[0021] In one embodiment, the third driving module includes a driving motor and an output shaft, the second leg has a first side and a second side opposite to each other, the driving motor is arranged on the first side, the rotating wheel is arranged on the second side, and the second leg is provided with a connecting hole connecting the first side and the second side, one end of the output shaft is connected to the driving motor, and the other end of the output shaft passes through the connecting hole and is connected to the rotating wheel.

[0022] In one embodiment, there are at least two supporting mechanisms, wherein at least one supporting mechanism is arranged on one side of the supporting seat, and at least one supporting mechanism is arranged on the other side of the supporting seat, and at least two moving mechanisms are provided and are arranged one-to-one with the supporting mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 This is a schematic structural diagram of the inspection robot in one embodiment of the present application.

[0025] Figure 2 This is a structural diagram of an installation module in an embodiment of the present application.

[0026] Figure 3 This is a schematic diagram of an inspection robot preparing to cross an obstacle in one embodiment of the present application.

[0027] Figure 4 This is a schematic diagram of an inspection robot crossing an obstacle in one embodiment of the present application.

[0028] Figure 5 This is a schematic diagram of the partial structure of the inspection robot in one embodiment of the present application.

[0029] Description of the accompanying drawings:

[0030] 100. Support seat; 200. Camera module; 300. Moving mechanism; 310. Rotating wheel; 320. Driving motor; 400. Mounting module; 410. First cylinder; 411. First opening cavity; 420. Second cylinder; 421. Second opening cavity; 430. Mounting channel; 440. Impact fitting part; 441. Impact surface; 500. Impact member; 600. First driving module; 610. Electromagnetic acceleration coil; 710. First leg; 720. Second leg; 721. First connecting part; 722. Second connecting part; 723. Third connecting part; 724. First side; 725. Second side; 730. Third leg; 800. Obstacle. DETAILED DESCRIPTION

[0031] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0032] In the description of this application, it should be understood that if 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", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0033] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0034] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0035] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this 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 intermediate medium. Furthermore, when a first feature is described as being "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 described as being "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.

[0036] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0037] See also Figures 1 to 4 An embodiment of the present application provides an inspection robot, including a supporting seat 100, a camera module 200, a moving mechanism 300, an installation module 400, an impact member 500 and a first driving module 600, wherein the camera module 200 is arranged on the supporting seat 100; the moving mechanism 300 is arranged on the supporting seat 100; the installation module 400 is arranged on the supporting seat 100 and is provided with a mounting channel 430, and the mounting channel 430 is provided with an impact surface 441 at one end away from the moving mechanism 300; the impact member 500 is provided in the mounting channel 430 and can move back and forth along the axial direction of the mounting channel 430; the first driving module 600 is used to drive the impact member 500 to move in the mounting channel 430 so that the impact member 500 can impact the impact surface 441.

[0038] In the above-mentioned inspection robot, the moving mechanism 300 drives the supporting base 100 and the camera module 200 on the supporting base 100 to move for collecting images. When the inspection robot encounters an obstacle 800 during movement, the first driving module 600 drives the impact member 500 to move to impact the impact surface 441 in the installation channel 430, so that the installation module 400 has upward kinetic energy, thereby driving the supporting base 100 to move upward, so that the inspection robot crosses the obstacle 800; compared with traditional technology, the above-mentioned inspection robot enables the supporting base 100 to have upward kinetic energy through the impact of the impact member 500, thereby enabling the inspection robot to have an obstacle crossing function, and there is no need for the inspection robot to bypass the obstacle 800, thereby improving the inspection efficiency.

[0039] Further, see Figures 1 to 2 , the side of the installation module 400 away from the ground is provided with a collision matching part 440, and the side of the collision matching part 440 facing the installation channel 430 is provided with a collision surface 441, and the first driving module 600 applies a force to the collision member 500 to move toward the collision surface 441, so that the collision member 500 moves in the installation channel 430 and finally hits the collision surface 441. Since the collision surface 441 is located on the side of the installation channel 430 away from the moving mechanism 300, when the collision member 500 hits the collision surface 441, the kinetic energy of the collision member 500 will be transferred to the collision surface 441, thereby causing the inspection robot to move as a whole toward the side away from the moving mechanism 300 (that is, jump from the ground), so that the inspection robot can cross the obstacle 800.

[0040] Furthermore, the impact fitting portion 440 is located at an end of the mounting channel 430 away from the ground, so that the impact fitting portion 440 can obtain kinetic energy for upward movement.

[0041] Preferably, the installation channel 430 extends in a straight line to prevent the impact member 500 from losing kinetic energy due to direction changes when moving in the installation channel 430 .

[0042] Optionally, the moving mechanism 300 may be a tracked wheel set, or a moving leg, a moving wheel, etc., which is not specifically limited here.

[0043] In one embodiment, the camera module 200 includes a camera, which is used to capture the current image and transmit or save it to achieve inspection of the current location.

[0044] Optionally, there may be multiple ways for the first driving module 600 to drive the impact member 500 to move. For example, the first driving module 600 may move the impact member 500 by impacting the impact member 500, or may move the impact member 500 by blowing the impact member 500 with airflow. No specific limitation is given here.

[0045] See also Figures 1 to 2 In one embodiment, the mounting module 400 includes a mounting tube, the mounting channel 430 is provided in the mounting tube, and an impact surface 441 is provided at one end of the mounting tube.

[0046] The installation channel 430 in the installation tube can provide a more stable moving path for the impact member 500, reduce the kinetic energy loss of the impact member 500 during movement, and improve the kinetic energy transfer efficiency of the impact member 500 to the impact surface 441, thereby improving the obstacle crossing reliability of the inspection robot.

[0047] Furthermore, the axial direction of the mounting cylinder is collinear with the axial direction of the mounting channel 430 .

[0048] Furthermore, the axis direction of the mounting cylinder forms an angle with the ground, so that when the impact member 500 impacts the impact surface 441 in the mounting channel 430 , the inspection robot can obtain kinetic energy to leap upward to cross the obstacle 800 .

[0049] See also Figures 1 to 5 In one embodiment, the mounting cylinder includes a first cylinder 410 and a second cylinder 420, one end of the first cylinder 410 is provided with an impact surface 441, and the other end of the first cylinder 410 is sleeved on the outside of the second cylinder 420, and the second cylinder 420 is connected to the moving mechanism 300 and can move back and forth along the axial direction of the first cylinder 410.

[0050] One end of the first cylinder 410 is provided with an impact surface 441, and the other end is sleeved on the outside of the second cylinder 420. The second cylinder 420 can move back and forth along the axial direction of the first cylinder 410 to realize the extension and retraction of the mounting cylinder; in this way, not only can the kinetic energy between the impact member 500 and the impact surface 441 be transferred, but after the inspection robot jumps up, the distance between the first cylinder 410 and the second cylinder 420 can also be shortened, so that the moving mechanism 300 can be further away from the ground and cross higher obstacles 800, thereby enabling the inspection robot to have a better obstacle-crossing effect.

[0051] Furthermore, the first cylinder 410 and the second cylinder 420 are arranged to form a mounting channel 430 , and the impact member 500 can reciprocate between the first cylinder 410 and the second cylinder 420 to achieve movement within the mounting channel 430 .

[0052] In one embodiment, the first cylinder 410 is provided with a first open cavity 411, and the second cylinder 420 is provided with a second open cavity 421. The opening direction of the first open cavity 411 is opposite to the opening direction of the second open cavity 421, so that the first open cavity 411 and the second open cavity 421 are surrounded to form an installation channel 430; in this embodiment, since the first cylinder 410 and the second cylinder 420 can move relative to each other, the length of the installation channel 430 also changes accordingly, but since the installation channel 430 extends in a straight line, it does not affect the moving stroke of the impact member 500 in the installation channel 430.

[0053] See also Figures 1 to 2 In one embodiment, the impact member 500 includes a conductor that can move back and forth between the first cylinder 410 and the second cylinder 420 . The first driving module 600 includes an electromagnetic acceleration coil 610 that is wound around the outer wall of the second cylinder 420 .

[0054] When the electromagnetic acceleration coil 610 is energized, a high-intensity magnetic field is generated inside it and magnetizes the conductor in the second cylinder 420. The magnetized conductor generates a force with the magnetic field generated by the electromagnetic acceleration coil 610, thereby causing the conductor to rush from the first cylinder 410 to the second cylinder 420 and collide with the impact surface 441, so as to transfer the kinetic energy of the conductor to the supporting seat 100, thereby giving the inspection robot upward kinetic energy to overcome obstacles.

[0055] Furthermore, the electromagnetic acceleration coil 610 is used to be electrically connected to the power supply element. The electromagnetic acceleration coil 610 is energized under the action of the power supply element, thereby generating a magnetic field and driving the carbon rod to impact the impact surface 441.

[0056] In one embodiment, the radius of the first cylinder 410 should be larger than the radius of the electromagnetic acceleration coil 610 after it is wound around the second cylinder 420. In this way, when the second cylinder 420 shrinks into the first cylinder 410, the electromagnetic acceleration coil 610 can also enter the first cylinder 410, so that the mounting cylinder has a larger telescopic stroke, further improving the obstacle crossing effect of the inspection robot.

[0057] In one embodiment, the conductor may be made of ferromagnetic materials such as iron, nickel, and cobalt, or may be made of carbon-based materials, which is not specifically limited here.

[0058] Preferably, the conductor is a cylindrical carbon rod, and the electromagnetic acceleration coil 610 is made of red copper.

[0059] See also Figure 1 、 Figure 3 and Figure 4In one embodiment, the inspection robot also includes a supporting mechanism, which includes a first leg 710, a second leg 720 and a second driving module. The first leg 710 is rotatably provided on the supporting base 100, and the second leg 720 is provided with a first connecting portion 721 and a second connecting portion 722 along its own length direction. The first connecting portion 721 is rotatably connected to the second cylinder 420, and the second connecting portion 722 is rotatably connected to the first leg 710. The moving mechanism 300 is provided on the second leg 720, and the second driving module is used to drive the first leg 710 to rotate relative to the supporting base 100.

[0060] In this arrangement, when the second driving module drives the first leg 710 to rotate relative to the supporting base 100, the second leg 720 can also move together, thereby driving the second cylinder 420 in and out of the first cylinder 410 to achieve the extension and retraction of the installation passage, so that after the inspection robot jumps up, the distance between the first cylinder 410 and the second cylinder 420 can also be shortened, so that the moving mechanism 300 can be further away from the ground and cross higher obstacles 800, thereby making the inspection robot have a better obstacle crossing effect.

[0061] Furthermore, one end of the first leg 710 is rotatably connected to the supporting base 100 , and the other end of the first leg 710 is rotatably connected to the second connecting portion 722 .

[0062] In one embodiment, the second driving module includes a motor, which is installed on the supporting base 100 and can drive the first leg 710 to rotate, so as to effectively drive the first cylinder 410 and the second cylinder 420 to perform telescopic movements, so that the robot can easily cross the obstacle 800.

[0063] Furthermore, one end of the first leg 710 is connected to the supporting base 100 through the output end of the motor.

[0064] See also Figure 1 、 Figure 3 and Figure 4 In one embodiment, the second leg 720 is further provided with a third connection portion 723, which is located on a side of the second connection portion 722 away from the first connection portion 721. The support mechanism also includes a third leg 730, one end of the third leg 730 is rotatably provided on the supporting seat 100, and the other end of the third leg 730 is rotatably provided on the third connection portion 723.

[0065] The provision of the third leg 730 can improve the stability of the first leg 710 and the second leg 720 during movement, thereby ensuring the telescopic stability of the first cylinder 410 and the second cylinder 420, making the driving and obstacle crossing effects of the inspection robot more reliable.

[0066] Furthermore, the first leg 710 , the second leg 720 , the third leg 730 and the mounting tube together form a planar four-bar linkage structure, which enables the inspection robot to more flexibly adapt to various complex terrain conditions.

[0067] Furthermore, the first leg 710, the second leg 720 and the third leg 730 are connected by thrust ball bearings and screws and nuts to simplify the joint structure, reduce maintenance costs and improve strength.

[0068] See also Figure 1 、 Figure 3 and Figure 4 In one embodiment, the first leg 710, the second leg 720 and the third leg 730 are all provided with weight-reducing holes, so as to reduce their weight as much as possible without affecting the strength of the first leg 710, the second leg 720 and the third leg 730, thereby ensuring the obstacle crossing effect of the inspection robot.

[0069] In one embodiment, the supporting base 100 is made of carbon fiber as the main material and is provided with a plurality of hollow structures to further reduce the overall weight of the inspection robot while facilitating the wiring of the inspection robot.

[0070] Furthermore, the supporting base 100 is connected by a plurality of plates through metal steel angle brackets, so as to significantly improve the stability of the supporting base 100 and ensure that the inspection robot can operate reliably in various complex environments.

[0071] See also Figure 1 、 Figure 3 and Figure 4 In one embodiment, the moving mechanism 300 includes a rotating wheel 310 rotatably disposed on the second leg 720 .

[0072] The rotating wheel 310 on the second leg 720 can drive the inspection robot to move as a whole, with low implementation cost and reliable movement process.

[0073] In one embodiment, the moving mechanism 300 further includes a third driving module, which is disposed on the second leg 720 and is drivingly connected to the rotating wheel 310 .

[0074] The third driving module is used to drive the rotating wheel 310 to rotate, thereby driving the inspection robot to move as a whole.

[0075] See also Figure 1 、 Figure 3 and Figure 4In one embodiment, the third driving module includes a driving motor 320 and an output shaft, the second leg 720 has a first side 724 and a second side 725 opposite to each other, the driving motor 320 is arranged on the first side 724, the rotating wheel 310 is arranged on the second side 725, and the second leg 720 is provided with a connecting hole connecting the first side 724 and the second side 725, one end of the output shaft is connected to the driving motor 320, and the other end of the output shaft passes through the connecting hole and is connected to the rotating wheel 310.

[0076] The driving motor 320 is arranged on the first side 724 of the second leg 720, and is driven and connected to the rotating wheel 310 arranged on the second side 725 through an output shaft passing through the connecting hole. In this way, not only can the rotating wheel 310 be driven, but also the installation space can be saved, making the overall structure of the inspection robot more compact.

[0077] Further, see Figure 1 and Figure 5 The first side 724 of the second leg 720 is arranged toward the space below the support base 100, and the second side 725 of the second leg 720 is arranged toward the outside of the support base 100. In this way, objects outside the support base 100 can be prevented from causing damage to the drive motor 320 and preventing damage to the inspection robot.

[0078] See also Figure 1 In one embodiment, there are at least two supporting mechanisms, wherein at least one supporting mechanism is arranged on one side of the supporting base 100, and at least one supporting mechanism is arranged on the other side of the supporting base 100, and at least two moving mechanisms 300 are arranged in a one-to-one correspondence with the supporting mechanisms.

[0079] At least two supporting mechanisms can provide a more stable supporting effect for the supporting base 100, making the inspection robot more stable when moving, and further providing a more stable shooting environment for the camera module 200 on the supporting base 100, thereby improving the inspection reliability.

[0080] See also Figure 1 In one embodiment, two supporting mechanisms are provided and are respectively disposed on opposite sides of the supporting base 100 , and two moving mechanisms 300 are provided and are disposed on the supporting mechanisms in a one-to-one correspondence.

[0081] Furthermore, in this embodiment, the moving mechanism 300 includes rotating wheels 310 , and the axes of the two rotating wheels 310 are collinear, and the posture control algorithm of the inspection robot is used to achieve balance of the inspection robot during movement.

[0082] Furthermore, each mobile mechanism 300 includes a rotating wheel 310 and a third drive module. The rotating wheel 310 corresponds to the third drive module one by one. Each third drive module can independently drive the corresponding rotating wheel 310 to realize the forward, backward or turning lights of the inspection robot, improve the maneuverability of the inspection robot, and enable the inspection robot to respond to various inspection tasks more flexibly.

[0083] See also Figures 1 to 5 In one embodiment, when the inspection robot observes an obstacle 800 or other complex terrain through the camera module 200 during normal driving, it first uses the impact between the impact member 500 and the impact surface 441 to obtain upward kinetic energy. At the same time, the contraction actions of the first leg 710 and the second leg 720 cooperate with each other to jointly realize the overall jumping and lifting of the inspection robot. This process enables the inspection robot to successfully reach the top of the obstacle 800 to complete the deformation and contraction of the first cylinder 410 and the second cylinder 420. Subsequently, the second driving module drives the first leg 710 to rotate and moves the rotating wheel 310 downward, so that the first leg 710 and the second leg 720 can be extended and lowered, so that the inspection robot successfully crosses the obstacle 800 and complex terrain. This series of actions are precisely coordinated to ensure that the inspection robot can patrol efficiently in various complex environments.

[0084] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A patrol robot, characterized in that: include: bearing seat; A camera module, the camera module being arranged on the supporting seat; A moving mechanism, the moving mechanism being arranged on the supporting seat; A mounting module, the mounting module being arranged on the bearing seat and provided with a mounting channel, wherein an end of the mounting channel away from the moving mechanism is provided with a collision surface; an impact member, the impact member being disposed in the installation channel and being capable of reciprocating along the axis direction of the installation channel; as well as A first driving module is used to drive the impact member to move in the installation channel so that the impact member can impact the impact surface.

2. The inspection robot according to claim 1, characterized in that: The installation module includes an installation cylinder, the installation channel is provided in the installation cylinder, and the impact surface is provided at one end of the installation cylinder.

3. The inspection robot according to claim 2, characterized in that: The mounting cylinder includes a first cylinder and a second cylinder. One end of the first cylinder is provided with the impact surface. The other end of the first cylinder is sleeved on the outside of the second cylinder. The second cylinder is connected to the moving mechanism and can move back and forth along the axial direction of the first cylinder.

4. The inspection robot according to claim 3, characterized in that: The impact member includes a conductor capable of reciprocating between the first cylinder and the second cylinder. The first driving module includes an electromagnetic acceleration coil wound around the outer wall of the second cylinder.

5. The inspection robot according to claim 3, characterized in that: The inspection robot also includes a supporting mechanism, which includes a first leg, a second leg and a second driving module. The first leg is rotatably provided on the supporting seat, and the second leg is provided with a first connecting portion and a second connecting portion along its own length direction. The first connecting portion is rotatably connected to the second cylinder, and the second connecting portion is rotatably connected to the first leg. The moving mechanism is provided on the second leg, and the second driving module is used to drive the first leg to rotate relative to the supporting seat.

6. The inspection robot according to claim 5, characterized in that: The second leg is also provided with a third connecting portion, which is located on a side of the second connecting portion away from the first connecting portion. The support mechanism also includes a third leg, one end of the third leg is rotatably provided on the bearing seat, and the other end of the third leg is rotatably provided on the third connecting portion.

7. The inspection robot according to claim 5, characterized in that: The moving mechanism includes a rotating wheel, and the rotating wheel is rotatably provided on the second supporting leg.

8. The inspection robot according to claim 7, characterized in that: The moving mechanism further includes a third driving module, which is disposed on the second leg and is drivingly connected to the rotating wheel.

9. The inspection robot according to claim 8, characterized in that: The third driving module includes a driving motor and an output shaft. The second leg has a first side and a second side opposite to each other. The driving motor is arranged on the first side, and the rotating wheel is arranged on the second side. The second leg is provided with a connecting hole connecting the first side and the second side. One end of the output shaft is connected to the driving motor, and the other end of the output shaft passes through the connecting hole and is connected to the rotating wheel.

10. The inspection robot according to claim 5, characterized in that: There are at least two supporting mechanisms, wherein at least one supporting mechanism is arranged on one side of the supporting seat, and at least one supporting mechanism is arranged on the other side of the supporting seat. There are at least two moving mechanisms and they are arranged one-to-one corresponding to the supporting mechanisms.

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