Power chassis mechanism of intelligent inspection robot

Abstract

The invention relates to the technical field of robot power devices, in particular to an intelligent inspection robot power chassis mechanism which comprises an inspection main component and a chassis mechanism body, the chassis mechanism body comprises an upper shell and a lower shell, a driving column is further installed in the lower shell, and the driving column is driven by a main driving assembly to linearly move up and down; when the driving column moves upwards, the connecting plate can be inserted and limited, when the driving column moves downwards, the limiting effect on the connecting plate is relieved, forward shielding plates are installed on the front side and the rear side of the bottom of the upper shell, lateral shielding plates are installed on the left side and the right side of the bottom of the upper shell, and the other ends of the forward shielding plates and the other ends of the lateral shielding plates are in lap joint with the outer wall of the top of the lower shell. A linkage assembly used for pushing the shielding plate to turn over upwards is arranged in the connecting plate. The inspection robot can adjust the gravity center in real time according to the uneven condition of the ground, the horizontal posture of the robot is kept, and therefore the accuracy of detection equipment such as a sensor and a camera is ensured.

Description

Technical Field

[0001] This invention relates to the field of robot power device technology, specifically to a power chassis mechanism for an intelligent inspection robot. Background Technology

[0002] The intelligent inspection system for natural gas stations consists of fixed monitoring stations and a mobile inspection robot system. Through its onboard specialized, customized sensors, it detects and prevents prominent safety hazards such as pipeline leaks, and utilizes artificial intelligence technology to identify and monitor instruments, valves, and other equipment.

[0003] Although the construction and management of natural gas stations strive to ensure the flatness and safety of the surrounding ground, various factors can cause unevenness. For example, during the construction of a natural gas station, ground leveling and adjustment may be necessary for the installation of pipelines, equipment, and supporting facilities. Such engineering work can result in depressions, bulges, or other unevenness in the ground. Furthermore, some natural gas stations are located in open areas, where the ground may become uneven due to weather and topography, such as rain erosion, wind erosion, and earthquakes.

[0004] The existing intelligent inspection robot power chassis mechanism uses simple structures such as springs inside the through slot for auxiliary shock absorption, which can only play a very weak shock absorption role. It cannot adjust the center of gravity in real time according to the unevenness of the ground, and cannot maintain the robot's horizontal posture. This means that the LiDAR may be affected by changes in ground height during detection, resulting in certain errors in the detection results. Summary of the Invention

[0005] The purpose of this invention is to provide a power chassis mechanism for an intelligent inspection robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a power chassis mechanism for an intelligent inspection robot, comprising an inspection main component and a chassis mechanism, wherein the chassis mechanism comprises an upper shell and a lower shell, the upper end of the lower shell is provided with two sets of arc-shaped sliding grooves recessed downwards, a connecting plate is fixedly connected to the lower end of the upper shell, and four sets of support legs are fixedly connected to the lower end of the connecting plate, the support legs extend into the arc-shaped sliding grooves and are rotatably connected to pulleys, the pulleys are in rolling cooperation with the arc-shaped sliding grooves, and a limit stop is fixedly provided at the upper end of the arc-shaped sliding grooves for upper limit of the pulleys; The lower housing is also equipped with a sliding active column, which is driven by the main drive assembly to move linearly up and down. When the active column moves upward, it can limit the insertion of the connecting plate, preventing the pulley from rolling in the arc-shaped groove. When the active column moves downward, it releases the limiting effect on the connecting plate, allowing the pulley to roll freely in the arc-shaped groove. The upper housing has front hinge seats fixedly installed on both the front and rear sides of its bottom. Each set of front hinge seats has a front cover plate rotatably installed on it via a first central axis. The upper housing has lateral hinge seats fixedly installed on both the left and right sides of its bottom. Each set of lateral hinge seats has a lateral cover plate rotatably installed on it via a second central axis. The other ends of the front cover plate and the lateral cover plate overlap the top outer wall of the lower housing. The upper housing is provided with a pushing component for pushing the cover plate to flip downwards. The lower housing is provided with a locking component for limiting the bottom position of the cover plate. The connecting plate has a linkage component inside for pushing the cover plate to flip upwards.

[0007] Preferably, the main drive assembly includes a nut seat, a drive screw, and a rotary motor. The nut seat is fixedly disposed on the lower end face of the drive column. One end of the drive screw is fixedly connected to the output shaft of the rotary motor, and the other end of the drive screw passes through the nut seat and extends into the drive column. A set of protrusions is fixedly connected to both horizontal ends of the nut seat, and the protrusions abut against the snap-fit ​​assembly.

[0008] Preferably, the snap-fit ​​assembly includes a longitudinal moving frame, four sets of insert blocks, and a No. 3 spring. The longitudinal moving frame is slidably installed in the lower housing. Four sets of No. 3 springs are fixedly provided on the upper end face of the longitudinal moving frame. The lower end faces of the front cover and the side cover are provided with snap-fit ​​holes. The end of the insert block away from the longitudinal moving frame extends out of the top wall of the lower housing and is inserted into the snap-fit ​​hole.

[0009] Preferably, the pushing assembly includes two sets of first pushing bars and two sets of second pushing bars. One end of the first pushing bar is fixedly connected to a locking pin, and the other end of the first pushing bar extends into the forward hinge seat and is fixedly connected to a rack. One end of the second pushing bar is fixedly connected to a locking pin, and the other end of the second pushing bar extends into the lateral hinge seat and is fixedly connected to a rack. A spur gear that meshes with the rack is fixedly sleeved on both the first central shaft and the second central shaft.

[0010] Preferably, both the first push bar and the second push bar are slidably mounted in the upper housing, and both the upper end faces of the first push bar and the second push bar are fixedly connected with stop blocks, and a reset spring is fixedly provided on the side of the stop block near the active column.

[0011] Preferably, the locking pin extends into the connecting plate and is connected to the linkage assembly. The linkage assembly includes a rotating ring, which is rotatably mounted in the connecting plate. The rotating ring has four sets of longitudinal arc-shaped grooves arranged in a ring array, and the locking pin is inserted into the longitudinal arc-shaped grooves.

[0012] Preferably, the inner sidewall of the rotating ring has four sets of drive grooves arranged in a ring array. Each drive groove is a one-tenth turn spiral groove, and a lever is inserted into each drive groove.

[0013] Preferably, a slider is fixedly connected to the end of the actuating lever away from the drive groove. The slider is a dovetail-shaped slider and is slidably mounted on the connecting plate.

[0014] Preferably, the connecting plate has a circular through hole in the middle to accommodate the active column, the upper outer wall of the active column has a mating groove, the inner wall of the circular through hole has a radial sliding groove, one end of the slider is limited and slidably installed in the radial sliding groove, the other end of the slider is slidably engaged in the mating groove, and a guide rod is vertically arranged in the radial sliding groove. The upper end of the slider is abutted and connected to a second spring, which is sleeved on the guide rod.

[0015] Preferably, the limiting stop is an arc-shaped stop, and the arc-shaped structure of the limiting stop is concentric with the arc-shaped surface of the arc-shaped groove.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting the chassis mechanism as a split structure, the connection state between the upper and lower shells can be adaptively adjusted according to the unevenness of the ground. This allows the inspection robot to adjust its center of gravity in real time according to the unevenness of the ground, maintaining the robot's horizontal posture. This ensures the accuracy of detection equipment such as sensors and cameras, avoids detection errors caused by robot shaking or instability, and improves the accuracy and reliability of detection results.

[0017] 2. By setting two sets of forward-facing baffles and two sets of side baffles for coordinated use, on the one hand, the upper shell can be provided with auxiliary support when driving on flat roads, so that the upper shell and the lower shell are tightly connected; on the other hand, it can be quickly opened when driving on uneven roads, so as to lower the center of gravity of the upper shell and further improve the balance performance of the main inspection component.

[0018] 3. By using a combination of protrusions, a longitudinal moving frame, and a No. 3 spring, the present invention can convert the rotational motion of the drive screw into the synchronous linear up-and-down motion of multiple inserts. This allows the inserts to adaptively extend into or out of the locking holes according to the motion state of the drive column, thereby ensuring both the normal unfolding of the front and side blinds and the stability of the front and side blinds in their closed state.

[0019] 4. By setting up a longitudinal arc groove, a rotating ring, a drive groove, a toggle rod, a slider, a second spring, and a guide rod, the linear driving force of the active column can be converted into the radial synchronous movement of multiple locking columns, so that the forward and side blocking plates can adaptively open or close according to the movement state of the locking columns, resulting in strong mechanical linkage. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of the present invention from another perspective.

[0022] Figure 3 This is a three-dimensional schematic diagram of the chassis mechanism of the present invention.

[0023] Figure 4 This is an exploded view of the chassis mechanism of the present invention.

[0024] Figure 5 This is a schematic diagram showing the connection between the lower housing and multiple sets of shields of the present invention.

[0025] Figure 6 This is a schematic diagram showing the connection of the longitudinal moving frame, the active column, and multiple sets of push bars of the present invention.

[0026] Figure 7 This is a schematic diagram of the protrusion, longitudinal moving frame, and active column in this invention.

[0027] Figure 8 This is a schematic diagram of the active column, nut seat, drive screw, and protrusion of the present invention.

[0028] Figure 9 This is a schematic diagram of the locking pin, rotating ring, and pushing bar of the present invention.

[0029] Figure 10 This is a schematic diagram of the rotating ring and the active column of the present invention.

[0030] In the diagram: 1. Main inspection component; 2. Upper housing; 3. Lower housing; 301. Arc-shaped slide groove; 4. Limiting stop bar; 5. Pulley; 6. Support leg; 7. Connecting plate; 8. First push bar; 9. Forward hinge seat; 10. Forward cover plate; 1001. First central shaft; 11. Side cover plate; 1101. Second central shaft; 12. Side hinge seat; 13. Second push bar; 14. Spur gear; 15. Rack; 16. Stop block; 17. Return spring; 18. Locking pin; 19. Longitudinal arc-shaped groove; 20. Rotating ring; 21. Drive groove; 22. Actuating rod; 23. Slider; 24. Second spring; 25. Guide rod; 26. Mating groove; 27. Active column; 28. Nut seat; 29. ​​Drive screw; 30. Protrusion; 31. Longitudinal moving frame; 32. Insert block; 33. Third spring. Detailed Implementation

[0031] 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.

[0032] Please see Figures 1 to 10 The present invention provides a technical solution: a power chassis mechanism for an intelligent inspection robot, including an inspection main component 1 and a chassis mechanism. The chassis mechanism includes an upper shell 2 and a lower shell 3. The upper end of the lower shell 3 is recessed with two sets of arc-shaped sliding grooves 301. The lower end of the upper shell 2 is fixedly connected to a connecting plate 7. The lower end of the connecting plate 7 is fixedly connected to four sets of support legs 6. The support legs 6 extend into the arc-shaped sliding grooves 301 and are rotatably connected to pulleys 5. The pulleys 5 roll in cooperation with the arc-shaped sliding grooves 301. A limit stop 4 is fixedly provided at the upper end of the arc-shaped sliding grooves 301 to limit the pulleys 5 at the upper end. The limit stop 4 is an arc-shaped stop, and the arc structure of the limit stop 4 is concentric with the arc surface of the arc-shaped sliding grooves 301.

[0033] Furthermore, by setting the chassis mechanism as a split structure, the connection state between the upper shell 2 and the lower shell 3 can be adaptively adjusted according to the unevenness of the ground. This allows the inspection robot to adjust its center of gravity in real time according to the unevenness of the ground, maintaining the robot's horizontal posture. This ensures the accuracy of detection equipment such as sensors and cameras, avoids detection errors caused by robot shaking or instability, and improves the accuracy and reliability of detection results.

[0034] like Figures 1-5 As shown, an active column 27 is also slidably installed inside the lower housing 3. The active column 27 is driven by the main drive assembly to move linearly up and down. When the active column 27 moves upward, it can insert and limit the connecting plate 7, preventing the pulley 5 from rolling in the arc-shaped slide groove 301. When the active column 27 moves downward, it releases the limiting effect on the connecting plate 7, allowing the pulley 5 to roll freely in the arc-shaped slide groove 301. Positive hinge seats 9 are fixedly installed on the front and rear sides of the bottom of the upper housing 2. Each set of positive hinge seats 9 is connected by a first central shaft 10. 01 A positive cover plate 10 is rotatably installed. Lateral hinge seats 12 are fixedly installed on the left and right sides of the bottom of the upper housing 2. A lateral cover plate 11 is rotatably installed on each lateral hinge seat 12 through the second central shaft 1101. The other end of the positive cover plate 10 and the lateral cover plate 11 overlaps the top outer wall of the lower housing 3. A pushing component for pushing the cover plate to flip downward is provided on the upper housing 2. A snap-fit ​​component for limiting the bottom of the cover plate is provided on the lower housing 3. A linkage component for pushing the cover plate to flip upward is provided inside the connecting plate 7.

[0035] Furthermore, by setting two sets of forward shields 10 and two sets of side shields 11 for use together, on the one hand, they can provide auxiliary support for the upper shell 2 when driving on flat roads, so that the upper shell 2 and the lower shell 3 are tightly connected; on the other hand, they can quickly open when driving on uneven roads, so as to lower the center of gravity of the upper shell 2 and further improve the balance performance of the main inspection component 1.

[0036] like Figures 5-8 As shown, the main drive assembly includes a nut seat 28, a drive screw 29, and a rotary motor. The nut seat 28 is fixedly mounted on the lower end face of the drive column 27. One end of the drive screw 29 is fixedly connected to the output shaft of the rotary motor, and the other end of the drive screw 29 passes through the nut seat 28 and extends into the drive column 27. A set of protrusions 30 are fixedly connected to both horizontal ends of the nut seat 28, and the protrusions 30 are abutted against the snap-fit ​​assembly.

[0037] Specifically, a power sensor is also provided on the lower housing 3, which can control the start of the rotary motor by the vibration amplitude of the machine body itself. By turning on the rotary motor, it drives the drive screw 29 to rotate. Under the action of the internal and external threads, the nut seat 28 is forced to drive the protrusion 30 and the active column 27 to move up and down together.

[0038] like Figures 5-7 As shown, the snap-fit ​​assembly includes a longitudinal moving frame 31, four sets of insert blocks 32, and a No. 3 spring 33. The longitudinal moving frame 31 is slidably installed in the lower housing 3. Four sets of No. 3 springs 33 are fixedly installed on the upper end face of the longitudinal moving frame 31. The lower end faces of the front cover plate 10 and the side cover plate 11 are provided with snap-fit ​​holes. The end of the insert block 32 away from the longitudinal moving frame 31 extends out of the top wall of the lower housing 3 and is inserted into the snap-fit ​​hole.

[0039] Furthermore, by using the protrusion 30, the longitudinal moving frame 31, and the No. 3 spring 33 in combination, the rotational motion of the drive screw 29 can be converted into the synchronous linear up-and-down motion of multiple inserts 32. This allows the inserts 32 to adaptively extend into or out of the slot according to the motion state of the active column 27, thereby ensuring both the normal unfolding of the front cover 10 and the side cover 11 and the stability of the front cover 10 and the side cover 11 in the closed state.

[0040] like Figures 5-9 As shown, the pushing assembly includes two sets of first pushing bars 8 and two sets of second pushing bars 13. One end of the first pushing bar 8 is fixedly connected to a locking post 18, and the other end of the first pushing bar 8 extends into the forward hinge seat 9 and is fixedly connected to a rack 15. One end of the second pushing bar 13 is fixedly connected to the locking post 18, and the other end of the second pushing bar 13 extends into the lateral hinge seat 12 and is fixedly connected to a rack 15. A spur gear 14 that meshes with the rack 15 is fixedly sleeved on both the first central shaft 1001 and the second central shaft 1101. The first pushing bar 8 and the second pushing bar 13 are both slidably mounted in the upper housing 2, and a stop block 16 is fixedly connected to the upper end face of both the first pushing bar 8 and the second pushing bar 13. A return spring 17 is fixedly provided on the side of the stop block 16 near the driving post 27.

[0041] Specifically, when the first push bar 8 and the second push bar 13 move toward the rotating ring 20, the meshing action of the spur gear 14 and the rack 15 causes the first central shaft 1001 and the second central shaft 1101 to sequentially drive the forward cover plate 10 and the side cover plate 11 to flip upward. When the first push bar 8 and the second push bar 13 move away from the rotating ring 20, the meshing action of the spur gear 14 and the rack 15 causes the first central shaft 1001 and the second central shaft 1101 to sequentially drive the forward cover plate 10 and the side cover plate 11 to flip downward and overlap on the lower housing 3.

[0042] like Figures 8-10 As shown, the locking pin 18 extends into the connecting plate 7 and connects to the linkage assembly. The linkage assembly includes a rotating ring 20, which is rotatably mounted within the connecting plate 7. The rotating ring 20 has four sets of longitudinal arc-shaped grooves 19 arranged in a circular array, and the locking pin 18 is inserted into the longitudinal arc-shaped grooves 19. The inner sidewall of the rotating ring 20 has four sets of driving grooves 21 arranged in a circular array. Each driving groove 21 is a one-tenth-turn spiral groove, and a toggle rod 22 is inserted into each driving groove 21. A slider 23 is fixedly connected to the end of the toggle rod 22 away from the driving groove 21. The slider 23 is a dovetail-shaped slider 23 and is slidably mounted on the connecting plate 7.

[0043] Furthermore, by setting the longitudinal arc groove 19, rotating ring 20, driving groove 21, toggle rod 22, slider 23, second spring 24 and guide rod 25 in combination, the linear pushing force of the active column 27 can be converted into the radial synchronous movement of multiple locking columns 18, so that the forward baffle 10 and the side baffle 11 can adaptively open or close according to the movement state of the locking columns 18, with strong mechanical linkage.

[0044] like Figures 8-10 As shown, the connecting plate 7 has a circular through hole in the middle to accommodate the active column 27. The upper outer side wall of the active column 27 has a mating groove 26. The inner side wall of the circular through hole has a radial sliding groove. One end of the slider 23 is limited and slidably installed in the radial sliding groove. The other end of the slider 23 is slidably engaged in the mating groove 26. A guide rod 25 is vertically arranged in the radial sliding groove. The upper end of the slider 23 is abutted and connected to a second spring 24. The second spring 24 is sleeved on the guide rod 25.

[0045] Specifically, when the active column 27 moves upward, the bottom wall of its mating groove 26 acts on the slider 23, causing the slider 23 to be forced to compress the second spring 24 and drive the actuating rod 22 to move upward. The actuating rod 22 acts on the driving groove 21, causing the rotating ring 20 to be forced to rotate counterclockwise. The longitudinal arc groove 19 on the rotating ring 20 acts on the locking column 18, causing the first pushing bar 8 and the second pushing bar 13 to be forced to move in a straight line in the direction away from the active column 27. At this time, the forward cover 10 and the side cover 11 are flipped downward and overlapped on the lower housing 3. At the same time, the protrusion 30 on the nut seat 28 pushes the longitudinal moving frame 31 to move upward. The insert block 32 on the longitudinal moving frame 31 is quickly inserted into the locking hole, thereby further limiting and fixing the forward cover 10 and the side cover 11.

[0046] When in use, the device is positioned as follows: when traveling on a flat road. Figure 1 In the indicated state, both the forward shield 10 and the side shield 11 overlap the lower housing 3, at which point the upper housing 2 and the lower housing 3 are connected and fixed to each other. When traveling on uneven roads, the rotary motor is turned on, causing the drive screw 29 to rotate. Under the action of the internal and external threads, the nut seat 28 is forced to move the protrusion 30 and the driving column 27 downwards together. The protrusion 30 releases the pushing force on the longitudinal moving frame 31, allowing the insert block 32 on the longitudinal moving frame 31 to quickly pull out of the locking hole and release the limiting effect on the forward shield 10 and the side shield 11. When the driving column 27 moves downwards and is pulled out from the connecting plate 7, the limiting effect on the connecting plate 7 is released, and the pulley 5 can roll freely in the arc-shaped sliding groove 301, thereby converting the fixed contact between the upper housing 2 and the lower housing 3 into a rolling contact, so that the upper... The housing 2 is not affected by the left and right swaying of the lower housing 3, which can well ensure the balance of the inspection main component. Moreover, the bottom wall of the mating groove 26 on the active column 27 no longer acts on the slider 23, so that the slider 23 drives the toggle rod 22 to move downward under the elastic force of the second spring 24. The toggle rod 22 acts on the drive groove 21, so that the rotating ring 20 is subjected to force and rotates clockwise. The longitudinal arc groove 19 on the rotating ring 20 acts on the locking post 18, so that the first push bar 8 and the second push bar 13 are subjected to force and move linearly in the direction of the active column 27. Under the meshing action of the spur gear 14 and the rack 15, the first central shaft 1001 and the second central shaft 1101 drive the positive shield 10 and the side shield 11 to flip upward in sequence, thereby lowering the center of gravity of the upper housing 2 and further improving the balance performance of the main inspection component 1.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A power chassis mechanism for an intelligent inspection robot, comprising an inspection main component (1) and a chassis mechanism, characterized in that: The chassis mechanism includes an upper shell (2) and a lower shell (3). The upper end of the lower shell (3) is recessed with two sets of arc-shaped sliding grooves (301). The lower end of the upper shell (2) is fixedly connected to a connecting plate (7). The lower end of the connecting plate (7) is fixedly connected to four sets of support legs (6). The support legs (6) extend into the arc-shaped sliding grooves (301) and are rotatably connected to pulleys (5). The pulleys (5) roll in cooperation with the arc-shaped sliding grooves (301). The upper end of the arc-shaped sliding grooves (301) is fixedly provided with a limit stop (4) for limiting the upper end of the pulleys (5). The lower housing (3) is also equipped with a sliding active column (27) which is driven by the main drive assembly to move linearly up and down. When the active column (27) moves upward, it can insert and limit the connection plate (7), so that the pulley (5) cannot roll in the arc-shaped slide groove (301); and when the active column (27) moves downward, it releases the limiting effect on the connection plate (7), so that the pulley (5) can roll freely in the arc-shaped slide groove (301). The upper housing (2) is fixedly provided with a forward hinge seat (9) on both the front and rear sides of the bottom. A forward cover plate (10) is rotatably installed on each set of forward hinge seats (9) via a first central shaft (1001). A side hinge seat (12) is fixedly provided on both the left and right sides of the bottom of the upper housing (2). A side cover plate (11) is rotatably installed on each set of side hinge seats (12) via a second central shaft (1101). The other end of the forward cover plate (10) and the side cover plate (11) overlaps on the top outer wall of the lower housing (3). A pushing component for pushing the cover plate to flip downward is provided on the upper housing (2). A snap-fit ​​component for limiting the bottom of the cover plate is provided on the lower housing (3). A linkage component for pushing the cover plate to flip upward is provided inside the connecting plate (7).

2. The intelligent inspection robot power chassis mechanism according to claim 1, characterized in that: The main drive assembly includes a nut seat (28), a drive screw (29), and a rotary motor. The nut seat (28) is fixedly mounted on the lower end face of the drive column (27). One end of the drive screw (29) is fixedly connected to the output shaft of the rotary motor, and the other end of the drive screw (29) passes through the nut seat (28) and extends into the drive column (27). A set of protrusions (30) are fixedly connected to both horizontal ends of the nut seat (28), and the protrusions (30) abut against the snap-fit ​​assembly.

3. The intelligent inspection robot power chassis mechanism according to claim 2, characterized in that: The snap-fit ​​assembly includes a longitudinal moving frame (31), four sets of inserts (32) and a No. 3 spring (33). The longitudinal moving frame (31) is slidably installed in the lower housing (3). Four sets of No. 3 springs (33) are fixedly installed on the upper end face of the longitudinal moving frame (31). The lower end faces of the front cover (10) and the side cover (11) are provided with snap-fit ​​holes. The end of the insert (32) away from the longitudinal moving frame (31) extends out of the top wall of the lower housing (3) and is inserted into the snap-fit ​​hole.

4. The intelligent inspection robot power chassis mechanism according to claim 1, characterized in that: The pushing assembly includes two sets of first pushing bars (8) and two sets of second pushing bars (13). One end of the first pushing bar (8) is fixedly connected to the locking pin (18), and the other end of the first pushing bar (8) extends into the forward hinge seat (9) and is fixedly connected to the rack (15). One end of the second pushing bar (13) is fixedly connected to the locking pin (18), and the other end of the second pushing bar (13) extends into the lateral hinge seat (12) and is fixedly connected to the rack (15). A spur gear (14) that meshes with the rack (15) is fixedly sleeved on both the first central shaft (1001) and the second central shaft (1101).

5. The intelligent inspection robot power chassis mechanism according to claim 4, characterized in that: The first push bar (8) and the second push bar (13) are both limited and slidably installed in the upper housing (2), and the upper end face of the first push bar (8) and the second push bar (13) are fixedly connected with a stop block (16). A reset spring (17) is fixedly installed on the side of the stop block (16) near the active column (27).

6. The intelligent inspection robot power chassis mechanism according to claim 4, characterized in that: The locking pin (18) extends into the connecting plate (7) and is connected to the linkage assembly. The linkage assembly includes a rotating ring (20). The rotating ring (20) is rotatably mounted in the connecting plate (7). The rotating ring (20) has four sets of longitudinal arc-shaped grooves (19) arranged in a ring array. The locking pin (18) is inserted into the longitudinal arc-shaped grooves (19).

7. The intelligent inspection robot power chassis mechanism according to claim 6, characterized in that: The inner wall of the rotating ring (20) is provided with four sets of driving grooves (21) arranged in a ring array. The driving groove (21) is a spiral groove of one-tenth of a turn. A toggle rod (22) is inserted into each set of driving grooves (21).

8. The intelligent inspection robot power chassis mechanism according to claim 7, characterized in that: The end of the lever (22) away from the drive groove (21) is fixedly connected to a slider (23), which is a dovetail slider (23) and is slidably mounted on the connecting plate (7).

9. The intelligent inspection robot power chassis mechanism according to claim 8, characterized in that: The connecting plate (7) has a circular through hole in the middle to accommodate the active column (27). The upper outer side wall of the active column (27) has a mating groove (26). The inner side wall of the circular through hole has a radial sliding groove. One end of the slider (23) is limited and slidably installed in the radial sliding groove. The other end of the slider (23) is slidably engaged in the mating groove (26). A guide rod (25) is vertically arranged in the radial sliding groove. The upper end of the slider (23) is abutted and connected to a second spring (24). The second spring (24) is sleeved on the guide rod (25).

10. A power chassis mechanism for an intelligent inspection robot according to claim 1, characterized in that: The limiting stop (4) is an arc-shaped stop, and the arc structure of the limiting stop (4) and the arc surface of the arc-shaped slide (301) are concentric.

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