Wheel type inspection robot capable of automatically avoiding obstacles and preventing collision

Abstract

The invention provides a wheel type inspection robot capable of automatically avoiding obstacles and preventing collision, and relates to the field of inspection robots. The wheel type inspection robot capable of automatically avoiding obstacles and preventing collision comprises a shell, a camera module is arranged on the outer wall of the front end of the shell, a storage cavity is formed in the shell, and a central processing unit and a communication module are arranged at the rear end and the front end of the bottom face of the storage cavity correspondingly; ultrasonic sensor array mechanisms are arranged on the two sides of the outer wall of the shell, a mounting seat is fixedly connected to the front end of the middle of the upper surface of the shell, a laser radar is rotationally connected to the middle of the upper surface of the mounting seat, and a driven gear and a driving gear are fixedly and rotationally connected to the middle and one side of the upper surface of the laser radar respectively. In the invention, the independent rotating motor corresponding to each group of moving wheels is combined with the electric push rod II to independently drive the rotating support leg on the corresponding side to rotate around the limiting groove, so that the single moving wheel is independently lifted to cross an obstacle, and path deviation and stagnation are reduced.

Description

Technical Field

[0001] This invention relates to the field of inspection robots, specifically a wheeled inspection robot with automatic obstacle avoidance and collision prevention. Background Technology

[0002] Wheeled inspection robots are automated devices equipped with various sensors and intelligent control systems, moving via a wheeled chassis. They are primarily used to replace manual labor in periodic or real-time inspections in specific scenarios. They can move along preset paths or autonomously planned routes, accurately collecting environmental data and equipment status information, and transmitting this data wirelessly to a backend system. This enables rapid identification, early warning, and recording of anomalies, thereby improving inspection efficiency and reducing manual labor intensity. They are particularly suitable for dangerous, harsh, or inaccessible areas, ensuring the safety and continuity of inspection work.

[0003] Typically, wheeled inspection robots rely on a "threshold trigger" mechanism for obstacle avoidance. This means that when the sensor detects that the obstacle distance is below a set threshold, the robot can only perform a single deceleration or stopping action, lacking dynamic prediction and flexible avoidance capabilities. Furthermore, the robot body often uses a rigid shell, so when it comes into contact with an obstacle, the impact force directly acts on the core components inside the robot body, causing damage to the equipment. Therefore, those skilled in the art have provided an automatic obstacle avoidance and collision prevention wheeled inspection robot to solve the problems mentioned in the background art. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automatic obstacle avoidance and collision prevention wheeled inspection robot. It solves the problems of being able to perform only a single deceleration or stopping action, lacking dynamic prediction and flexible avoidance capabilities, and causing the impact force to directly act on the core components inside the robot body when it comes into contact with an obstacle, resulting in equipment damage and other problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An automatic obstacle avoidance and collision prevention wheeled inspection robot includes a shell, a camera module is provided on the outer wall of the front end of the shell, a storage cavity is provided inside the shell, a central processing unit and a communication module are respectively provided at the rear end and front end of the bottom surface of the storage cavity, an ultrasonic sensor array mechanism is provided on both sides of the outer wall of the shell, a mounting base is fixedly connected to the front end of the middle of the upper surface of the shell, a lidar is rotatably connected to the middle of the upper surface of the mounting base, and a driven gear and a driving gear are fixedly and rotatably connected to the middle and one side of the upper surface of the lidar, respectively.

[0007] A mounting bracket is fixedly connected to the center of the lower surface of the outer casing. Support rods are fixedly connected to both sides of the bottom surface of the mounting bracket. An arc frame is fixedly connected to the upper end of each support rod. Sliding grooves are formed on both sides of the outer wall of the front and rear ends of the arc frame. A sliding rod is slidably connected to the inner wall of each sliding groove. An electric push rod is rotatably connected to the lower part of the lower side of the outer wall of the mounting bracket. Transmission gears are rotatably connected to both ends of the outer wall of each sliding rod. A support plate is fixedly connected to the outer wall of the opposite side of each sliding rod. A storage slot is formed on the outer wall of the opposite side of each support plate. The inner wall of the storage slot... Both ends of the support plate are fixedly connected to connecting rods. Both sides of the outer wall of the connecting rods are fitted with buffer springs. The outer wall of the adjacent end of the buffer springs is fixedly connected to a sliding sleeve. The outer wall of the opposite side of the sliding sleeves is hinged to a hinge rod. The outer wall of the opposite side of the hinge rods is hinged to a buffer plate. Both ends of the upper surface of the support plate are provided with mounting grooves. Both sides of the inner wall of the mounting grooves are fixedly connected to guide rods. The outer wall of the adjacent side of the guide rods is fitted with auxiliary springs. The outer walls of the opposite sides of each pair of auxiliary springs are fixedly connected to sliding brackets.

[0008] Fixed support rods are fixedly connected to the four corners of the outer wall of the mounting frame. Electric push rods are rotatably connected to the outer wall of the opposite side of the fixed support rods. Rotating legs are rotatably connected to the inner wall of the lower end of the fixed support rods. Rotary motors are fixedly connected to the upper ends of the inner walls of the adjacent side of the rotating legs. Rotating rods are rotatably connected to the upper and lower parts of the inner wall of the opposite side of the rotating legs. Synchronous belts are fitted on the outer walls of the rotating rods. Moving wheels are fixedly connected to both sides of the lower end of the outer wall of the rotating rods, extending through the rotating legs to the outside of the rotating legs.

[0009] Through the above technical solution, each set of moving wheels is equipped with an independent rotary motor, which, combined with the electric push rod two driving the rotating outriggers to rotate around the limiting groove, can lift a single wheel to cross obstacles, reducing path deviation and stagnation; the electric push rod one drives the buffer plate to slide along the arc frame slide groove, reducing lateral space and avoiding scratches when retracted, and expanding the protection range through multi-level buffering formed by buffer springs and auxiliary springs when extended; the camera module, ultrasonic sensor array and 360° rotating lidar work together to build a multi-dimensional perception network, and the central processor quickly integrates data to formulate strategies, while the communication module ensures real-time interaction in the background, which improves the accuracy of obstacle avoidance, environmental adaptability and inspection efficiency in complex scenarios, and significantly reduces the risk of collision.

[0010] Furthermore, an antenna is provided on one side of the rear end of the upper surface of the outer casing;

[0011] Through the above technical solutions, the antenna can enhance the signal transmission and reception capabilities of the communication module. Especially in environments with strong signal shielding, such as industrial workshops and underground pipe networks, it can reduce data transmission delays or interruptions, ensure real-time interaction between the robot and the back-end management system, and improve the reliability of remote monitoring and command response.

[0012] Furthermore, a protective shell is fixedly connected to the middle of the upper surface of the lidar, and a servo motor is fixedly connected to the other side of the top surface of the protective shell. The output end of the servo motor is fixedly connected to the upper end of the drive gear, and the drive gear and the driven gear mesh with each other.

[0013] Through the above technical solutions, the protective shell on the lidar can effectively protect the drive gear, driven gear and servo motor from dust, moisture and impact, and extend the life of core components; the servo motor drives the lidar to rotate through gear meshing, which can realize 360° environmental scanning without blind spots.

[0014] Furthermore, the output ends of the electric push rods are all hinged to the lower surface of the support plate, and the upper ends of the outer walls on the opposite side of the sliding bracket are respectively fixedly connected to the outer walls on the adjacent side of the support plate.

[0015] Through the above technical solution, the electric push rod can easily drive the support plate to move.

[0016] Furthermore, the lower end of the inner wall of the slide groove is fixedly connected with multiple teeth, and the transmission gear meshes with the teeth;

[0017] Through the above technical solution, the teeth in the slide groove mesh with the transmission gear, causing the slide rod to slide along the slide groove under the drive of the electric push rod, thereby improving the stability of the operation.

[0018] Furthermore, the sliding sleeve and the sliding bracket are slidably connected to the outer walls of the connecting rod and the guide rod, respectively;

[0019] With the above technical solution, the sliding sleeve and the sliding bracket are slidably connected to the outer walls of the connecting rod and the guide rod, respectively, which can provide a stable extension and contraction trajectory for the buffer spring and the auxiliary spring, and avoid jamming or displacement when the spring is deformed.

[0020] Furthermore, a limiting groove is provided at the lower end of the outer wall opposite to the fixed support rod, and a fixed rod is fixedly connected to the upper end of the outer wall opposite to the rotating support leg. The output ends of the electric push rods are rotatably connected to the outer wall of the fixed rods, and the fixed rods are slidably connected to the inner wall of the limiting grooves.

[0021] Through the above technical solution, the fixing rods are all slidably connected to the inner wall of the limiting groove, providing precise guidance for the rotation of the rotating outrigger, limiting its rotation angle within a safe range, and preventing structural collisions caused by excessive deflection.

[0022] Furthermore, a limit frame is fixedly connected to the middle of the inner wall on both sides of the rotating support leg, and a tension wheel is rotatably connected to the inner wall of the limit frame. The outer wall of the tension wheel is in close contact with the outer wall of the synchronous belt.

[0023] With the above technical solution, the tension pulley can easily coordinate with the synchronous belt for stable movement.

[0024] This invention provides a wheeled inspection robot with automatic obstacle avoidance and collision prevention. It has the following beneficial effects:

[0025] 1. This invention provides an automatic obstacle avoidance and collision prevention wheeled inspection robot. Each set of moving wheels has an independent rotary motor that, combined with an electric push rod, can individually drive the corresponding rotating leg to rotate around the limiting groove, so that each moving wheel can be lifted independently to cross obstacles, reducing path deviation and stagnation.

[0026] 2. This invention provides an automatic obstacle avoidance and collision prevention wheeled inspection robot. By retracting an electric push rod, the robot slides along the arc frame groove via a slide bar, causing the buffer plate to retract towards the body, reducing the lateral space occupied and preventing the buffer structure from rubbing against surrounding equipment. In open areas, the electric push rod extends to push the buffer plate to unfold, expanding the collision prevention range while the buffer spring and auxiliary spring form a multi-level buffer.

[0027] 3. This invention provides a wheeled inspection robot with automatic obstacle avoidance and collision prevention. A camera module captures obstacle details and identifies their type; an ultrasonic sensor array enables wide-angle, short-range detection; and a lidar system with meshing active and driven gears performs 360° environmental scanning. These three components work together to form a multi-dimensional perception network. A central processing unit quickly integrates and processes multi-sensor data, accurately assesses the environmental state, and formulates obstacle avoidance strategies. A communication module ensures real-time data interaction with the backend, enabling the robot to have more comprehensive environmental perception and faster decision-making response. This effectively improves obstacle avoidance accuracy and inspection efficiency in complex scenarios and reduces collision risks. Attached Figure Description

[0028] Figure 1 This is an isometric schematic diagram of the present invention;

[0029] Figure 2 This is a schematic diagram of the movement of the buffer plate and the rotating support leg in this invention;

[0030] Figure 3 This is an exploded view of the present invention;

[0031] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0032] Figure 5 This is a bottom view of the present invention;

[0033] Figure 6 For the present invention Figure 5 Enlarged view of point D in the middle;

[0034] Figure 7This is a schematic diagram of the arc frame structure in this invention;

[0035] Figure 8 For the present invention Figure 7 Enlarged view of point B in the middle;

[0036] Figure 9 For the present invention Figure 7 Enlarged view of point C in the middle;

[0037] Figure 10 This is an exploded view of the rotating outrigger in this invention;

[0038] Figure 11 For the present invention Figure 10 Enlarged view of point E in the middle.

[0039] In the picture:

[0040] 1. Outer shell; 11. Antenna; 12. Camera module; 13. Storage cavity; 14. Central processing unit; 15. Communication module; 16. Ultrasonic sensor array mechanism; 17. Mounting base; 18. LiDAR; 19. Protective shell; 110. Servo motor; 111. Drive gear; 112. Driven gear;

[0041] 2. Mounting bracket; 21. Support rod; 22. Arc frame; 23. Slide groove; 24. Slide rod; 25. Electric push rod one; 26. Transmission gear; 27. Tooth; 28. Support plate; 29. ​​Storage slot; 210. Connecting rod; 211. Buffer spring; 212. Sliding sleeve; 213. Hinge rod; 214. Buffer plate; 215. Mounting slot; 216. Guide rod; 217. Auxiliary spring; 218. Sliding bracket;

[0042] 3. Fixed support rod; 31. Electric push rod II; 32. Limiting groove; 33. Rotating support leg; 34. Fixed rod; 35. Moving wheel; 36. Rotary motor; 37. Rotating rod; 38. Synchronous belt; 39. Limiting frame; 310. Tension wheel. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example:

[0045] An automatic obstacle avoidance and collision prevention wheeled inspection robot includes a shell 1. A camera module 12 is provided on the outer wall of the front end of the shell 1. A storage cavity 13 is opened inside the shell 1. A central processing unit 14 and a communication module 15 are respectively provided at the rear end and front end of the bottom surface of the storage cavity 13. An ultrasonic sensor array mechanism 16 is provided on both sides of the outer wall of the shell 1. A mounting base 17 is fixedly connected to the front end of the middle of the upper surface of the shell 1. A laser radar 18 is rotatably connected to the middle of the upper surface of the mounting base 17. A driven gear 112 and a driving gear 111 are fixedly and rotatably connected to the middle and one side of the upper surface of the laser radar 18, respectively.

[0046] A mounting bracket 2 is fixedly connected to the middle of the lower surface of the outer casing 1. Support rods 21 are fixedly connected to both sides of the bottom surface of the mounting bracket 2. An arc frame 22 is fixedly connected to the upper end of the support rods 21. Slide grooves 23 are provided on both sides of the outer wall of the front and rear ends of the arc frame 22. A slide rod 24 is slidably connected to the inner wall of the slide groove 23. An electric push rod 25 is rotatably connected to the lower part of the lower side of the outer wall of the mounting bracket 2. A transmission gear 26 is rotatably connected to both ends of the outer wall of the slide rod 24. A support plate 28 is fixedly connected to the outer wall of the opposite side of the slide rod 24. A storage slot 29 is provided on the outer wall of the opposite side of the support plate 28. A connecting rod is fixedly connected to both ends of the inner wall of the storage slot 29. Both sides of the outer wall of the rod 210 and the connecting rod 210 are fitted with buffer springs 211. The outer wall of the adjacent end of the buffer spring 211 is fixedly connected with a sliding sleeve 212. The outer wall of the opposite side of the sliding sleeve 212 is hingedly connected with a hinge rod 213. The outer wall of the opposite side of the hinge rod 213 is hingedly connected with a buffer plate 214. Both ends of the upper surface of the support plate 28 are provided with mounting grooves 215. Both sides of the inner wall of the mounting groove 215 are fixedly connected with guide rods 216. The outer wall of the adjacent side of the guide rod 216 is fitted with an auxiliary spring 217. The outer wall of the opposite side of each pair of auxiliary springs 217 is fixedly connected with a sliding bracket 218.

[0047] Fixed support rods 3 are fixedly connected to the four corners of the outer wall of the mounting frame 2. Electric push rods 31 are rotatably connected to the outer wall of the opposite side of the fixed support rods 3. Rotating legs 33 are rotatably connected to the inner wall of the lower end of the fixed support rods 3. Rotary motors 36 are fixedly connected to the upper end of the inner wall of the adjacent side of the rotating legs 33. Rotating rods 37 are rotatably connected to the upper and lower parts of the inner wall of the opposite side of the rotating legs 33. Synchronous belts 38 are fitted on the outer wall of the rotating rods 37. Moving wheels 35 are fixedly connected to both sides of the outer wall of the lower rotating rods 37, passing through the rotating legs 33 to the outside of the rotating legs 33.

[0048] Each set of moving wheels 35 is equipped with an independent rotary motor 36, which, combined with the electric push rod 2 31, drives the rotating support leg 33 to rotate around the limiting groove 32. This allows a single wheel to be lifted independently to cross obstacles, reducing path deviation and stagnation. The electric push rod 1 25 drives the buffer plate 214 to slide along the slide groove 23 of the arc frame 22. When retracted, it reduces lateral space to avoid scratches. When extended, it forms a multi-level buffer through the buffer spring 211 and the auxiliary spring 217 to expand the protection range. The camera module 12, the ultrasonic sensor array, and the 360° rotating lidar 18 work together to build a multi-dimensional perception network. The central processor 14 quickly integrates the data to formulate strategies, and the communication module 15 ensures real-time interaction with the background. Overall, this improves the accuracy of obstacle avoidance, environmental adaptability, and inspection efficiency in complex scenarios, and significantly reduces the risk of collision.

[0049] An antenna 11 is provided on one side of the rear end of the upper surface of the outer casing 1;

[0050] Antenna 11 can enhance the signal transmission and reception capabilities of communication module 15. Especially in environments with strong signal shielding, such as industrial workshops and underground pipe networks, it can reduce data transmission delays or interruptions, ensure real-time interaction between the robot and the back-end management system, and improve the reliability of remote monitoring and command response.

[0051] A protective shell 19 is fixedly connected to the middle of the upper surface of the lidar 18. A servo motor 110 is fixedly connected to the other side of the top surface of the protective shell 19. The output end of the servo motor 110 is fixedly connected to the upper end of the drive gear 111. The drive gear 111 and the driven gear 112 mesh with each other.

[0052] The protective shell 19 on the lidar 18 can effectively protect the drive gear 111, driven gear 112 and servo motor 110 from dust, moisture and impact, and extend the life of core components; the servo motor 110 drives the lidar 18 to rotate through gear meshing, which can realize 360° environmental scanning without blind spots.

[0053] The output ends of the electric push rod 25 are all hinged to the lower surface of the support plate 28, and the upper ends of the outer wall of the opposite side of the sliding bracket 218 are respectively fixedly connected to the outer wall of the adjacent side of the support plate 28.

[0054] The electric push rod 25 facilitates the movement of the support plate 28.

[0055] Multiple teeth 27 are fixedly connected to the lower end of the inner wall of the slide groove 23, and the transmission gear 26 meshes with the teeth 27.

[0056] The teeth 27 in the slide groove 23 mesh with the transmission gear 26, causing the slide rod 24 to slide along the slide groove 23 under the drive of the electric push rod 25, thereby improving the stability of the operation.

[0057] Both the sliding sleeve 212 and the sliding bracket 218 are slidably connected to the outer walls of the connecting rod 210 and the guide rod 216, respectively.

[0058] The sliding sleeve 212 and the sliding bracket 218 are slidably connected to the outer walls of the connecting rod 210 and the guide rod 216, respectively, which can provide a stable extension and contraction trajectory for the buffer spring 211 and the auxiliary spring 217, and prevent jamming or displacement when the spring is deformed.

[0059] Limiting grooves 32 are provided at the lower end of the outer wall opposite to the fixed support rod 3. A fixed rod 34 is fixedly connected to the upper end of the outer wall opposite to the rotating support leg 33. The output end of the electric push rod 31 is rotatably connected to the outer wall of the fixed rod 34. The fixed rod 34 is slidably connected to the inner wall of the limiting groove 32.

[0060] The fixing rods 34 are all slidably connected to the inner wall of the limiting groove 32, providing precise guidance for the rotation of the rotating support leg 33, limiting its rotation angle within a safe range, and preventing structural collisions caused by excessive deflection.

[0061] A limit frame 39 is fixedly connected to the middle of the inner wall on both sides of the rotating support leg 33. Tension wheels 310 are rotatably connected to the inner wall of the limit frame 39. The outer wall of the tension wheel 310 is in close contact with the outer wall of the synchronous belt 38.

[0062] The tension pulley 310 facilitates stable movement in conjunction with the synchronous belt 38.

[0063] Working principle: The camera module 12 captures the details and type of obstacles, the ultrasonic sensor arrays on both sides achieve wide-angle short-range detection, and the lidar 18, driven by the servo motor 110, completes 360° detection through the meshing of the drive gear 111 and the driven gear 112. Environmental scanning and the collaborative collection of environmental data by the three entities are transmitted in real time to the central processing unit 14 within the storage cavity 13. The central processing unit 14 quickly integrates multi-source information, accurately determines the location, shape, and path trend of obstacles, and simultaneously interacts with the backend via the communication module 15 using the antenna 11 on the outer shell 1 to enhance the signal. After formulating an obstacle avoidance strategy, it issues commands to the execution mechanism. For obstacles, if crossing is required, the corresponding electric push rod 21 is controlled to push the rotating support leg 33, and the fixed rod 34 slides along the limiting groove 32 to achieve precise steering. The moving wheel 35 driven by the independent rotary motor 36 is lifted separately to cross, reducing path deviation. If collision prevention is required, the electric push rod 25 is controlled to drive the sliding rod 24 to slide along the sliding groove 23 of the arc frame 22, causing the buffer plate 214 to retract to avoid scraping in narrow spaces or to expand to form protection. In the event of a collision, the buffer spring 211 and the auxiliary spring 217 slide along the connecting rod 210 and the guide rod 216 through the sliding sleeve 212 and the sliding bracket 218 to compress and buffer, achieving multi-level energy absorption. The following points need to be noted in this article:

[0064] 1. The accompanying drawings of the embodiments disclosed herein only relate to the structures involved in the embodiments disclosed herein; other structures can be referred to in a general design.

[0065] 2. Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0066] 3. The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0067] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A wheeled inspection robot with automatic obstacle avoidance and collision prevention, comprising a shell (1), characterized in that: A camera module (12) is provided on the outer wall of the front end of the housing (1). A storage cavity (13) is provided inside the housing (1). A central processing unit (14) and a communication module (15) are respectively provided at the rear end and front end of the bottom surface of the storage cavity (13). An ultrasonic sensor array mechanism (16) is provided on both sides of the outer wall of the housing (1). A mounting base (17) is fixedly connected to the front end of the middle part of the upper surface of the housing (1). A laser radar (18) is rotatably connected to the middle part of the upper surface of the mounting base (17). A driven gear (112) and a driving gear (111) are fixedly and rotatably connected to the middle part and one side of the upper surface of the laser radar (18). A mounting bracket (2) is fixedly connected to the middle of the lower surface of the outer shell (1). Support rods (21) are fixedly connected to both sides of the bottom surface of the mounting bracket (2). An arc frame (22) is fixedly connected to the upper end of the support rod (21). Slide grooves (23) are provided on both sides of the outer wall of the front and rear ends of the arc frame (22). A slide rod (24) is slidably connected to the inner wall of the slide groove (23). An electric push rod (25) is rotatably connected to the lower part of the lower side of the outer wall of the mounting bracket (2). A transmission gear (26) is rotatably connected to both ends of the outer wall of the slide rod (24). A support plate (28) is fixedly connected to the outer wall of the opposite side of the slide rod (24). A storage slot (29) is provided on the outer wall of the opposite side of the support plate (28). Both ends of the inner wall of the storage slot (29) are fixed. A connecting rod (210) is connected. Both sides of the outer wall of the connecting rod (210) are fitted with buffer springs (211). The outer walls of adjacent ends of the buffer springs (211) are fixedly connected with sliding sleeves (212). The outer walls of opposite sides of the sliding sleeves (212) are hingedly connected with hinge rods (213). The outer walls of opposite sides of the hinge rods (213) are hingedly connected with buffer plates (214). Both ends of the upper surface of the support plate (28) are provided with mounting grooves (215). Both sides of the inner wall of the mounting grooves (215) are fixedly connected with guide rods (216). The outer walls of adjacent sides of the guide rods (216) are fitted with auxiliary springs (217). The outer walls of opposite sides of each pair of auxiliary springs (217) are fixedly connected with sliding brackets (218). Fixed support rods (3) are fixedly connected to the four corners of the outer wall of the mounting frame (2). Electric push rods (31) are rotatably connected to the outer wall of the opposite side of the fixed support rod (3). Rotary legs (33) are rotatably connected to the inner wall of the lower end of the fixed support rod (3). Rotary motors (36) are fixedly connected to the upper end of the inner wall of the adjacent side of the rotating legs (33). Rotary rods (37) are rotatably connected to the upper and lower parts of the inner wall of the opposite side of the rotating legs (33). Synchronous belts (38) are fitted on the outer wall of the rotating rods (37). Moving wheels (35) are fixedly connected to both sides of the outer wall of the lower end of the rotating rods (37) through the rotating legs (33) to the outside of the rotating legs (33).

2. The wheeled inspection robot with automatic obstacle avoidance and collision prevention according to claim 1, characterized in that: An antenna (11) is provided on one side of the rear end of the upper surface of the outer shell (1).

3. The wheeled inspection robot with automatic obstacle avoidance and collision prevention according to claim 1, characterized in that: A protective shell (19) is fixedly connected to the middle of the upper surface of the lidar (18). A servo motor (110) is fixedly connected to the other side of the top surface of the protective shell (19). The output end of the servo motor (110) is fixedly connected to the upper end of the drive gear (111). The drive gear (111) meshes with the driven gear (112).

4. The wheeled inspection robot with automatic obstacle avoidance and collision prevention according to claim 1, characterized in that: The output ends of the electric push rod (25) are all hinged to the lower surface of the support plate (28), and the upper ends of the outer wall of the opposite side of the sliding bracket (218) are respectively fixedly connected to the outer wall of the adjacent side of the support plate (28).

5. The wheeled inspection robot with automatic obstacle avoidance and collision prevention according to claim 1, characterized in that: The lower end of the inner wall of the slide (23) is fixedly connected with a plurality of teeth (27), and the transmission gear (26) meshes with the teeth (27).

6. The wheeled inspection robot with automatic obstacle avoidance and collision prevention according to claim 1, characterized in that: The sliding sleeve (212) and the sliding bracket (218) are slidably connected to the outer walls of the connecting rod (210) and the guide rod (216), respectively.

7. The wheeled inspection robot with automatic obstacle avoidance and collision prevention according to claim 1, characterized in that: The lower end of the outer wall opposite to the fixed support rod (3) is provided with a limiting groove (32), the upper end of the outer wall opposite to the rotating support leg (33) is fixedly connected with a fixed rod (34), the output end of the electric push rod (31) is rotatably connected to the outer wall of the fixed rod (34), and the fixed rod (34) is slidably connected to the inner wall of the limiting groove (32).

8. The wheeled inspection robot with automatic obstacle avoidance and collision prevention according to claim 1, characterized in that: The middle of the inner walls on both sides of the rotating support leg (33) is fixedly connected to a limiting frame (39), and the inner walls of the limiting frame (39) are rotatably connected to tension wheels (310). The outer wall of the tension wheel (310) is tightly fitted to the outer wall of the synchronous belt (38).

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