Intelligent inspection robot with anti-collision structure
By combining lidar and ultrasonic sensors, the inspection robot achieves collision protection, a buffer structure, and camera storage, solving the problems of easy collision and camera damage in traditional inspection robots, reducing maintenance costs and improving inspection efficiency.
Patent Information
- Application Number
- CN202511175385.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-21
- Publication Date
- 2025-11-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional inspection robots are prone to collisions in complex environments, their anti-collision structures are costly to repair, and their cameras lack effective protection, making them susceptible to damage and difficult to maintain.
The system uses lidar to detect obstacles, controls the main body to decelerate and steer, ultrasonic sensors to confirm the type of obstacle, a crash barrier to buffer the impact, a collision contact switch to stop the emergency, power off the drive mechanism, and the camera to be stored inside the protective ring. A buffer spring and a drive motor are also included to achieve collision protection.
It effectively avoids robot collision damage, reduces maintenance costs, protects cameras, improves inspection results, and simplifies drive mechanism maintenance.
Smart Images
Figure CN120941348A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent robot technology, and in particular to an inspection intelligent robot with a collision avoidance structure. Background Technology
[0002] With the development of technology, inspection robots play an important role in industrial automation and intelligent operation and maintenance, undertaking tasks such as environmental monitoring, equipment status inspection, and anomaly early warning. However, traditional inspection robots generally suffer from the following problems: On the one hand, in complex working environments, robot collision accidents occur frequently. Even if traditional robots are equipped with autonomous obstacle avoidance systems, they often cannot achieve timely and accurate passive avoidance when faced with fast-moving impacts. Once a collision occurs, it will not only damage the robot body and affect the execution of its normal inspection tasks, but also make the repair costs quite high. Moreover, the anti-collision structures of many existing intelligent inspection robots are mostly set inside the machine shell, and it is difficult and costly to replace these structures after a collision. On the other hand, the protection of the inspection robot's camera is also inadequate. Common high-definition cameras and infrared imaging detectors usually lack effective protective structures and are exposed to the outside for a long time. When the robot is charging or idle for a long time, it is very easy to get dusty. At the same time, the camera is bound to be hit, which will seriously affect the subsequent monitoring effect. Summary of the Invention
[0003] This invention relates to an intelligent inspection robot with an anti-collision structure. When the lidar detects an obstacle ahead, the control body triggers a deceleration command, the first drive motor reduces its speed, and the steering motor calculates the detour path and turns to the side without obstacles. If the obstacle enters the close range, such as when a person is passing by, the ultrasonic sensor and the inspection camera jointly confirm the type of obstacle, and the control body accelerates and turns. At the same time, the front end of the anti-collision net approaches the obstacle, and the buffer spring is compressed and stores energy. When the anti-collision net is impacted, the pressing rod squeezes the contact rod of the collision contact switch, triggering an emergency stop signal. The drive mechanism is immediately de-energized, the rollers lock and brake, and at the same time, the second drive motor retracts the inspection camera above the protective ring to avoid lens damage.
[0004] This invention provides an intelligent inspection robot with a collision avoidance structure, specifically comprising: The control body has a positioning housing at its top, an annular groove at its top, a protective ring installed inside the annular groove, a stabilizing groove on one side of the positioning housing, and a laser radar installed inside the stabilizing groove. A set of vertical concealed grooves are formed at the corners of the control body, and a positioning sleeve is installed inside the concealed grooves. Two collision contact switches are installed at the bottom of the control body, each with a plug installed on one side. A stepped shaft is installed at the bottom of the control body, with a set of bolt mounting holes at its top. A locking buckle is installed on each side of the stepped shaft, and the stepped shaft and locking buckles cooperate to form an anti-loosening structure. A first positioning block is located on each side of the bottom of the control body, with a sliding hole on each side of the first positioning block. The sliding hole is cylindrical, and a positioning rod is inserted inside each sliding hole. A stabilizing hole is formed at the top of the positioning housing, and a second drive motor is installed inside the stabilizing hole. A rotating shaft is installed at the center of the second drive motor, a support column is installed on the outer side of the rotating shaft, and a patrol camera is installed above the support column.
[0005] Furthermore, there are two positioning rods, and a second positioning block is provided between the two positioning rods. The second positioning block has a rectangular structure, and an anti-collision net is installed on the outer side of the second positioning block. A positioning frame is provided on the inner side of the anti-collision net, and the second positioning block extends into the interior of the positioning frame.
[0006] Furthermore, a positioning groove is formed on one side of the positioning rod. The positioning groove is a circular ring structure. A limiting block is installed on one side of the positioning rod. Two slots are formed on one side of the limiting block, extending into the interior of the positioning groove. A horizontal pressing rod is provided on one side of the limiting block. The anti-collision net, the second positioning block, the positioning rod, the limiting block, and the pressing rod cooperate with each other to form a buffer structure. A support spring is installed on the outer side of the positioning rod. There are two pressing rods in total, and a buffer spring is installed between the two pressing rods.
[0007] Furthermore, a positioning ring and a support spring are installed on the outer side of the contact rod of the collision contact switch.
[0008] Furthermore, a steering motor is installed on the inner side of the positioning sleeve. An adapter is installed at the bottom of the drive shaft of the steering motor. An installation groove is opened on the inner side of the adapter. A set of conductive blocks is provided on the inner side of the installation groove. A docking seat is installed on the inner side of the installation groove. An insertion port is installed above the docking seat. The conductive blocks extend into the interior of the insertion port. A first drive motor is installed inside the docking seat. A roller is installed on the outer side of the drive shaft of the first drive motor. The positioning sleeve, steering motor, adapter, docking seat, first drive motor, and roller cooperate with each other to form a drive mechanism.
[0009] Furthermore, the outer surface of the rotating shaft is provided with a set of positioning protrusions arranged in a ring array. The positioning protrusions are arc structures. A mounting hole is opened at the bottom of the support column. A set of slots corresponding to the positioning protrusions are opened on the inner surface of the mounting hole. The rotating shaft cooperates with the positioning protrusions to pass through the interior of the mounting hole.
[0010] Furthermore, a sliding hole is opened on one side of the locking buckle, and the two sides of the stepped shaft pass through the interior of the sliding hole respectively. There are two plugs, and a wire is provided between the two plugs. A rigid support block is provided between the wire and the plug. A set of stepped grooves is opened on the outer side of the rigid support block, and an opening groove is opened on one side of the locking buckle. The inner side of the opening groove extends into the interior of the stepped groove.
[0011] Furthermore, a control block with a rectangular structure is provided on one side of the locking buckle.
[0012] Furthermore, the upper part of the docking seat is a rectangular structure, and a positioning groove is opened in the upper position of the mounting groove of the adapter seat. The upper part of the docking seat extends into the interior of the positioning groove, and a locking bolt is installed in the upper position of the adapter seat.
[0013] This invention provides an intelligent inspection robot with an anti-collision structure, which has the following beneficial effects: In this invention, the robot is equipped with a buffer structure consisting of an anti-collision net, a second positioning block, a positioning rod, a limiting block, and a pressing rod. A spring is installed on the anti-collision net to achieve the effect of buffering the impact force. In addition, the spring also supports the anti-collision net to reset. A collision contact switch is also installed on the anti-collision net. When the anti-collision net is subjected to impact force, the pressing rod presses the contact rod of the collision contact switch, triggering an emergency stop signal. The drive mechanism is immediately de-energized, the rollers are locked and braked, and at the same time, the second drive motor retracts the inspection camera above the protective ring to avoid damage to the robot.
[0014] A second drive motor and a support column are installed on the inspection camera. The second drive motor controls the support column to swing. As the support column swings, the inspection camera is automatically retracted and unfolded. After being retracted, the inspection camera achieves an anti-collision protection effect. After being retracted, the bottom of the inspection camera fits into the protective ring, which provides dust protection for the inspection camera.
[0015] A quick-connect structure consisting of an adapter and a docking seat is set on the basis of the drive mechanism, which makes it easy and quick to disassemble the drive mechanism after damage, thus achieving the effect of convenient assembly and maintenance of the drive mechanism. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.
[0017] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.
[0018] In the attached diagram: Figure 1 A schematic diagram of the robot's axonal structure of the present invention is shown; Figure 2 The present invention is shown Figure 1 A schematic diagram of the axonal structure from an elevation viewpoint; Figure 3 The present invention is shown Figure 1 A schematic diagram of the structure viewed from below; Figure 4 A schematic diagram of a partial axonal structure of the robot of the present invention is shown; Figure 5 A schematic diagram of the partial split-axis structure of the robot according to the present invention is shown; Figure 6 The present invention is shown in the figure. Figure 5 A schematic diagram of the isometric view from an elevation angle; Figure 7 A schematic diagram of the buffer structure and anti-loosening structure of the present invention is shown. Figure 8 A schematic diagram of the collision contact switch, plug, and anti-loosening structure of the present invention is shown. Figure 9 A schematic diagram of the axial side structure of the drive mechanism of the present invention is shown. Figure 10 The present invention is shown Figure 2 A magnified structural diagram at point A; Figure 11 The present invention is shown Figure 5 A magnified structural diagram at point B.
[0019] List of reference numerals 1. Control body; 101. Positioning housing; 102. Protective ring; 103. First positioning block; 2. LiDAR; 3. Drive mechanism; 301. Positioning sleeve; 302. Steering motor; 303. Adapter; 304. Docking seat; 305. First drive motor; 306. Roller; 4. Collision contact switch; 401. Positioning ring; 5. Plug; 501. Wire; 6. Anti-loosening structure; 601. Stepped shaft; 602. Locking buckle; 7. Buffer structure; 701. Anti-collision net; 702. Second positioning block; 703. Positioning rod; 704. Limiting block; 705. Pressing rod; 8. Second drive motor; 801. Rotating shaft; 9. Support columns; 10. Inspect the cameras. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. Based on the described 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.
[0021] Example 1: Please refer to Figures 1 to 11 : This invention proposes an intelligent inspection robot with an anti-collision structure, comprising: a control body 1, a positioning shell 101 located on the upper part of the control body 1, an annular groove formed on the upper part of the control body 1, a protective ring 102 installed on the inner side of the annular groove, the specific material of the protective ring 102 being selected according to actual needs, a stabilizing groove formed on one side of the positioning shell 101, a laser radar 2 installed inside the stabilizing groove, the stabilizing groove stabilizing and concealing the installation position of the laser radar 2, a set of vertical concealing grooves formed at the corners of the control body 1, a positioning sleeve 301 installed inside the concealing grooves, and the bottom of the control body 1... Two collision contact switches 4 are installed at the designated location. A positioning ring 401 and a support spring are installed on the outer side of the contact rod of each collision contact switch 4. The positioning ring 401 blocks one side of the support spring, and the support spring, in conjunction with the positioning ring 401, supports the contact rod to return to its original position, preventing delayed return after prolonged pressing. A steering motor 302 is installed on the inner side of the positioning sleeve 301, ensuring a stable mounting position for the steering motor 302. An adapter 303 is installed at the bottom of the drive shaft of the steering motor 302, controlling the steering motor 302 to drive the adapter 303 for steering. A [missing information - likely a design feature or feature] is provided on the inner side of the adapter 303. The mounting slot has a set of conductive blocks on its inner side. A docking seat 304 is installed on the inner side of the mounting slot, and a socket is installed above the docking seat 304. The conductive blocks extend into the socket. The adapter 303 and the docking seat 304 are electrically connected with the conductive blocks. The adapter 303 is also electrically connected to the control body 1. A first drive motor 305 is installed inside the docking seat 304. The first drive motor 305 is electrically connected to the docking seat 304, enabling the control body 1 to provide power to the first drive motor 305. A roller 306 is installed on the outer side of the drive shaft of the first drive motor 305 to control the first drive motor. The drive motor 305 drives the roller 306 to rotate. When the roller 306 rotates, it drives the control body 1 and the inspection camera 10 to move. The upper part of the docking seat 304 is a rectangular structure. The mounting slot of the adapter 303 has a positioning groove at the upper position. The upper part of the docking seat 304 extends into the interior of the positioning groove. The positioning groove positions the installation position of the docking seat 304 circumferentially. A locking bolt is installed at the upper position of the adapter 303. The locking bolt is fastened to the docking seat 304. The positioning sleeve 301, the steering motor 302, the adapter 303, the docking seat 304, the first drive motor 305, and the roller 306 cooperate with each other to form the drive mechanism 3. In this embodiment, a plug 5 is installed on one side of the collision contact switch 4, and a stepped shaft 601 is installed at the bottom of the control body 1. A set of bolt mounting holes is opened at the top of the stepped shaft 601, and matching bolts are installed at the bolt mounting holes to secure the stepped shaft 601. A locking buckle 602 is installed on each side of the stepped shaft 601. The stepped shaft 601 and the locking buckle 602 cooperate to form an anti-loosening structure 6. A sliding hole is opened on one side of the locking buckle 602, and the two sides of the stepped shaft 601 pass through the interior of the sliding hole. With the cooperation of the sliding hole, the locking buckle 602 is positioned circumferentially and vertically. With the cooperation of the sliding hole, the locking buckle 602 can move horizontally stably. There are two plugs 5, and a wire 501 is provided between the two plugs 5. A rigid support block is provided between the wire 501 and the plug 5. A set of stepped grooves is opened on the outer side of the rigid support block. An opening groove is opened on one side of the locking buckle 602. The inner side of the opening groove extends into the interior of the stepped groove. The locking buckle 602 achieves the effect of quickly and firmly fixing the installation position of the plug 5 and preventing the plug 5 from loosening. A control block is provided on one side of the locking buckle 602. The control block has a rectangular structure. After the operator applies a pushing force to the control block, the plug 5 and the collision contact switch 4 are quickly separated. In this embodiment, there are two positioning rods 703, and a second positioning block 702 is provided between the two positioning rods 703. The positioning rods 703 cooperate with the first positioning block 103 to position the second positioning block 702 circumferentially and vertically. The second positioning block 702 has a rectangular structure. A crash barrier 701 is installed on the outer side of the second positioning block 702. A positioning frame is provided on the inner side of the crash barrier 701. The second positioning block 702 extends into the interior of the positioning frame. Referring to the interference fit structure of the prior art, the crash barrier 701 and the second positioning block 702 are stably connected. The positioning frame facilitates the individual replacement of the crash barrier 701 and the second positioning block 702. A positioning groove is opened on one side of the positioning rod 703. The positioning groove has a circular structure. A limiting block 704 is installed on one side of the positioning rod 703. Two slots are opened on one side of the limiting block 704, and the slots extend into the interior of the positioning groove. Therefore... After installation, the limiting block 704 can quickly engage with the positioning rod 703. A horizontal pressing rod 705 is provided on one side of the limiting block 704. The anti-collision net 701, the second positioning block 702, the positioning rod 703, the limiting block 704, and the pressing rod 705 cooperate to form a buffer structure 7. A support spring is installed on the outer side of the positioning rod 703. The support spring supports the anti-collision net 701, the second positioning block 702, the positioning rod 703, the limiting block 704, and the pressing rod 705 to return to their original positions. When the anti-collision net 701 is subjected to an impact force, it drives the second positioning block 702, the positioning rod 703, the limiting block 704, and the pressing rod 705 to move to one side. There are two pressing rods 705. A buffer spring is installed between the two pressing rods 705. When the pressing rod 705 moves, it will press the collision contact switch 4, which will energize the collision contact switch 4 and immediately send an emergency stop signal. At this time, the robot stops moving. In this embodiment, the bottom of the control body 1 has a first positioning block 103 on each side. A sliding hole is formed on each side of the first positioning block 103. The sliding hole is cylindrical, and a positioning rod 703 is inserted inside each sliding hole. A stabilizing hole is formed at the top of the positioning housing 101. A second drive motor 8 is installed inside the stabilizing hole. The positioning housing 101, in conjunction with the stabilizing hole, stabilizes the installation position of the second drive motor 8. A rotating shaft 801 is installed at the center of the second drive motor 8, controlling the second drive motor 8 to drive the rotating shaft 801 to rotate. A support column 9 is installed on the outer side of the rotating shaft 801. An inspection camera 10 is installed above the support column 9. The side has a set of positioning protrusions arranged in a ring array. The positioning protrusions are arc structures. A mounting hole is opened at the bottom of the support column 9. A set of slots corresponding to the positioning protrusions are opened on the inner side of the mounting hole. The rotating shaft 801 passes through the inside of the mounting hole with the positioning protrusions. The positioning protrusions and slots realize the circumferential positioning effect between the rotating shaft 801 and the support column 9. Therefore, when the rotating shaft 801 rotates, it can drive the support column 9 to stably retract and unfold. With the swing of the support column 9, the inspection camera 10 is automatically retracted and unfolded. After the inspection camera 10 is retracted, it achieves the effect of anti-collision protection. After the inspection camera 10 is retracted, the bottom of it fits with the protective ring 102, and the protective ring 102 provides dust protection for the inspection camera 10.
[0022] Example 2, based on Example 1, such as Figure 1 Figure 6 As shown, a power cord needs to be installed on the basis of the control body 1, and the control body 1 is electrically connected to the inspection camera 10 and the second drive motor 8 respectively.
[0023] The working principle of this embodiment: The lidar 2 is embedded in the stabilizing groove of the positioning housing 101, ensuring that the lens faces outward and is horizontal. The steering motor 302 is placed into the positioning sleeve 301, and the conductive block of the adapter 303 is connected to the socket of the docking seat 304. The locking bolt on the top of the adapter 303 is tightened to fix the docking seat 304. The plug 5 is inserted into the interface of the collision contact switch 4. The rigid support block of the wire 501 is locked by the opening groove of the locking buckle 602. The control block is pushed to make the locking buckle 602 move laterally. The second drive motor 8 is started. The positioning protrusion of the rotating shaft 801 drives the support column 9 to swing, so that the camera rotates from the unfolded state to the retracted state. After powering on, the LiDAR 2 automatically rotates and scans the surrounding environment, generates a cloud map and marks fixed obstacles. Through the touch screen of the control unit 1 or the cloud platform, a preset inspection route is set to avoid high-frequency obstacle areas. The first drive motor 305 drives the roller 306 to rotate, and the control unit 1 moves along the planned path at a preset speed. The steering motor 302 adjusts the direction of the adapter 303 in real time according to the LiDAR data to achieve differential steering. The inspection camera 10 remains in the unfolded state and moves synchronously with the support column 9 to collect video of the area in front and transmit it back to the control unit 1 or the cloud platform in real time. When the lidar 2 detects an obstacle ahead, the control unit 1 triggers a deceleration command, the first drive motor 305 reduces its speed, and the steering motor 302 calculates the detour path and turns to the side without obstacles. If the obstacle enters the close range, such as when a person is passing by, the ultrasonic sensor 2 and the inspection camera 10 jointly confirm the type of obstacle, the control unit 1 accelerates the turn, and at the same time, the front end of the anti-collision net 701 approaches the obstacle, the buffer spring is compressed and stores energy. When the anti-collision net 701 is impacted, the pressing rod 705 presses the contact rod of the collision contact switch 4, triggering an emergency stop signal. The drive mechanism 3 is immediately de-energized, the roller 306 locks and brakes, and at the same time the second drive motor 8 retracts the inspection camera 10 above the protective ring 102 to avoid lens damage. After the collision stops, the support spring pushes the anti-collision net 701 to reset, the pressing rod 705 releases the collision contact switch 4, the contact rod rebounds under the action of the positioning ring 401 and the support spring, the lidar 2 rescans the environment, generates a new path, and the control body 1 automatically retreats and goes around to continue performing the inspection task. The anti-collision net 701 is fixed to the second positioning block 702 by an interference fit. When disassembling, the anti-collision net 701 can be separated by gently pulling it. After installing the new net, press it until it is locked into the positioning frame. When the collision contact switch 4 malfunctions, push the control block of the locking buckle 602 to release the plug 5, unscrew the old switch and replace it with a new part, reconnect the wire 501 and lock it; After the operation is completed, the drive mechanism 3 stops running, the inspection camera 10 is stored above the protective ring 102, the lidar 2 stops scanning, and the robot is moved to a dry and ventilated place for storage. The above steps, combined with the equipment's mechanical structure and electrical control logic, form a collision protection chain covering the entire process from deployment to inspection.
Claims
1. An intelligent inspection robot with a collision avoidance structure, comprising: The control body (1), collision contact switches (4), and inspection camera (10) are provided. A positioning housing (101) is provided on the upper part of the control body (1). The control body (1) is characterized by having an annular groove on the upper part of the control body (1) and a protective ring (102) installed on the inner side of the annular groove. A stabilizing groove is provided on one side of the positioning housing (101) and a laser radar (2) is installed inside the stabilizing groove. A set of vertical hidden grooves are provided at the corners of the control body (1) and a positioning sleeve (301) is installed inside the hidden grooves. Two collision contact switches (4) are installed at the bottom of the control body (1) and a plug (5) is installed on one side of each collision contact switch (4). A stepped shaft (601) is installed at the bottom of the control body (1) and a step shaft (601) is installed above the stepped shaft (601). A set of bolt mounting holes are made, and a locking buckle (602) is installed on each side of the stepped shaft (601). The stepped shaft (601) and the locking buckle (602) cooperate to form an anti-loosening structure (6). A first positioning block (103) is provided on each side of the bottom of the control body (1). A sliding hole is opened on each side of the first positioning block (103). The sliding hole is a cylindrical structure. A positioning rod (703) is inserted into the sliding hole. A stabilizing hole is opened at the top of the positioning housing (101). A second drive motor (8) is installed inside the stabilizing hole. A rotating shaft (801) is installed at the center of the second drive motor (8). A support column (9) is installed on the outer side of the rotating shaft (801). An inspection camera (10) is installed above the support column (9).
2. The inspection intelligent robot with anti-collision structure according to claim 1, characterized in that, There are two positioning rods (703), and a second positioning block (702) is provided between the two positioning rods (703). The second positioning block (702) has a rectangular structure. A crash barrier (701) is installed on the outer side of the second positioning block (702). A positioning frame is provided on the inner side of the crash barrier (701). The second positioning block (702) extends into the interior of the positioning frame.
3. The inspection intelligent robot with anti-collision structure according to claim 1, characterized in that, A positioning groove is opened on one side of the positioning rod (703), and a limiting block (704) is installed on one side of the positioning rod (703). Two slots are opened on one side of the limiting block (704), and the slots extend into the interior of the positioning groove. A horizontal pressing rod (705) is provided on one side of the limiting block (704). The anti-collision net (701), the second positioning block (702), the positioning rod (703), the limiting block (704), and the pressing rod (705) cooperate with each other to form a buffer structure (7). A support spring is installed on the outer side of the positioning rod (703). There are two pressing rods (705), and a buffer spring is installed between the two pressing rods (705).
4. The inspection intelligent robot with anti-collision structure according to claim 1, characterized in that, The collision contact switch (4) has a positioning ring (401) and a support spring installed on the outer side of the contact rod.
5. The inspection intelligent robot with anti-collision structure according to claim 1, characterized in that, A steering motor (302) is installed on the inner side of the positioning sleeve (301). A converter seat (303) is installed at the bottom of the drive shaft of the steering motor (302). An installation groove is opened on the inner side of the converter seat (303). A set of conductive blocks is provided on the inner side of the installation groove. A docking seat (304) is installed on the inner side of the installation groove. A socket is installed on the upper part of the docking seat (304). The conductive blocks extend into the interior of the socket. A first drive motor (305) is installed inside the docking seat (304). A roller (306) is installed on the outer side of the drive shaft of the first drive motor (305). The positioning sleeve (301), steering motor (302), converter seat (303), docking seat (304), first drive motor (305), and roller (306) cooperate with each other to form a drive mechanism (3).
6. The inspection intelligent robot with anti-collision structure according to claim 1, characterized in that, The outer side of the rotating shaft (801) is provided with a set of positioning protrusions arranged in a ring array. A mounting hole is opened at the bottom of the support column (9). A set of slots corresponding to the positioning protrusions are opened on the inner side of the mounting hole. The rotating shaft (801) passes through the interior of the mounting hole in cooperation with the positioning protrusions.
7. The inspection intelligent robot with anti-collision structure according to claim 1, characterized in that, A sliding hole is provided on one side of the locking buckle (602), and the two sides of the stepped shaft (601) pass through the interior of the sliding hole respectively. There are two plugs (5), and a wire (501) is provided between the two plugs (5). A rigid support block is provided between the wire (501) and the plug (5). A set of stepped grooves is provided on the outer side of the rigid support block. An opening groove is provided on one side of the locking buckle (602), and the inner side of the opening groove extends into the interior of the stepped groove.
8. The inspection intelligent robot with anti-collision structure according to claim 1, characterized in that, A control block is provided on one side of the locking buckle (602).
9. An intelligent inspection robot with an anti-collision structure according to claim 5, characterized in that, The mounting slot of the adapter (303) has a positioning groove at the top position, and the top of the mating seat (304) extends into the interior of the positioning groove. A locking bolt is installed at the top position of the adapter (303).