Special equipment detection robot

Abstract

The invention belongs to the technical field of equipment visual inspection, and discloses a special equipment detection robot which comprises a detection table, a workbench is fixed to the top end of the detection table, a limiting mechanism is fixed in the workbench, and a camera panel cleaning mechanism is fixed to the top end of the detection table. Through cooperation of structures such as the advancing crawler belt, the multi-axis mechanical arm and the visual monitoring camera, the device can adapt to the complex detection environment of special equipment, precise visual detection under multiple scenes is achieved, the advancing crawler belt is started to drive the whole device to move in areas such as the interior of a pipeline and the surface of the equipment, and the detection efficiency is improved. The limitation of narrow, high-altitude and other dangerous environments where manual detection is difficult to enter is broken through, the multi-axis mechanical arm can flexibly adjust the angle and position of the visual monitoring camera, it is ensured that the camera can be aligned with surface crack, corrosion and other defect areas of special equipment, and manual handheld detection equipment is not needed; and finally, the effects of expanding the detection range and improving the detection safety and accuracy are achieved.

Description

Technical Field

[0001] This invention belongs to the field of equipment visual inspection technology, specifically a special equipment inspection robot. Background Technology

[0002] Special equipment is a core infrastructure in industrial production and people's livelihood. Its operational safety is directly related to the safety of people's lives and property and the continuity of production. Therefore, regular and accurate inspection is a key link in equipment operation and maintenance. At present, special equipment inspection mainly relies on two types of methods: manual inspection and traditional mechanical auxiliary inspection. There are significant technical bottlenecks. Manual inspection is the traditional mainstream method. Inspection personnel need to enter dangerous working environments such as narrow spaces, high altitudes or high temperatures, and complete defect identification through visual observation, ultrasonic detection and other means. This is not only labor-intensive and has high safety risks, but is also easily affected by subjective factors such as personnel experience and fatigue. The accuracy of identifying hidden defects such as micro-cracks and internal corrosion is low, which makes it difficult to meet the needs of high-precision inspection.

[0003] Publication No. CN114964638A discloses a multifunctional robot for special equipment inspection, including a base, a box fixedly installed on the top of the base, a frame fixedly installed on the top of the box, an identification mechanism fixedly installed in the middle of the top of the frame, and lifting cylinders fixedly installed on both sides of the top of the box. An opening is provided in the middle of the top of the box. With the above structure and technical solution, by setting a telescopic cylinder to drive the pressure plate to extend and retract, the pressure plate can be driven by the telescopic cylinder to squeeze the sealing block on the inner and outer surfaces of the telescopic cylinder. Since the sealing block is fixedly connected to the inner end of the telescopic cylinder and not the inner end of its output end, the pressure plate squeezes the sealing block, causing the sealing block to deform and thus increasing its area. This can block pressure pipes of different specifications, facilitating the inspection of pressure pipes of different diameters.

[0004] This device uses a telescopic cylinder to extend and retract a pressure plate. The cylinder then compresses the sealing blocks on the inner and outer surfaces of the cylinder, blocking pressure pipes of different specifications and facilitating the inspection of pressure pipes of varying diameters. However, this device cannot inspect long pressure pipes or other special equipment, limiting its applicability. Therefore, a special equipment inspection robot is proposed. This robot, equipped with tracks, can move within pipes or in areas related to special equipment to adapt to different devices. It also utilizes a camera to collect visual data on the surfaces of special equipment and its components. Summary of the Invention

[0005] To address the problems mentioned in the background section, this invention provides a special equipment inspection robot.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a special equipment inspection robot.

[0007] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: The device includes a testing platform, a workbench fixed to the top of the testing platform, a limit mechanism fixed inside the workbench, and a camera panel cleaning mechanism fixed to the top of the testing platform. The limiting mechanism includes a first servo motor, a first connecting rod, and a working plate. The first servo motor is fixed to the bottom of the worktable. The first connecting rod is fixed to the rotating end of the first servo motor. The working plate is fixed to the top of the first connecting rod. A support base is fixed to the top of the working plate. A second servo motor is fixed to the outside of the support base. A bidirectional lead screw is fixed to the rotating end of the second servo motor. The camera panel cleaning mechanism includes a cleaning box, a cover plate, and a transmission rod. The cleaning box is fixed to the top of the testing platform. The top of the cleaning box is rotatably connected to the cover plate. The inside of the cleaning box is rotatably connected to the transmission rod. A cleaning belt is sleeved on the outside of the transmission rod. The inside of the cleaning box is rotatably connected to a third connecting rod. A fourth bevel gear is fixed on the outside of the third connecting rod.

[0008] Furthermore, the external thread of the bidirectional lead screw is connected to a first limiting block, the external thread of the bidirectional lead screw is connected to a second limiting block, the top of the working plate is fixed with a limiting ring, the external of the first connecting rod is fixed with a first bevel gear, the internal of the worktable is rotatably connected with a second connecting rod, the external of the second connecting rod is fixed with a second bevel gear, and the external of the second connecting rod is fixed with a third bevel gear.

[0009] Furthermore, the first limiting block and the second limiting block are symmetrically distributed about the central axis of the bidirectional lead screw, the height of the limiting ring is equal to the height of the first limiting block and the second limiting block, and two sets of buffer pads are fixed to the outside of the first limiting block and the second limiting block.

[0010] Furthermore, the outer wall of the first bevel gear is fixed with several sets of teeth, and the outer wall of the second bevel gear is fixed with several sets of teeth. The first bevel gear and the second bevel gear mesh with each other, so that the device can stably fix and rotate special equipment parts, realize all-round inspection of parts. The part to be inspected is placed in the limiting ring of the working plate. After the first limiting block and the second limiting block are clamped or internally supported and fixed, the first servo motor drives the working plate and the part to rotate at a uniform speed through the first connecting rod. With the help of the visual monitoring camera, the circumferential surface, end face and other aspects of the part can be inspected, avoiding the inspection omissions caused by manually flipping the part, and finally achieving the effect of improving the comprehensiveness and efficiency of part inspection.

[0011] Furthermore, a transmission disc is fixed to the outside of the third connecting rod, a transmission block is fixed to the outside of the transmission disc, a fourth connecting rod is rotatably connected to the inside of the cleaning box, a swing block is fixed to the outside of the fourth connecting rod, and a cleaning rod is fixed to the outside of the fourth connecting rod.

[0012] Furthermore, the top of the cleaning box is provided with two sets of cleaning grooves, which are symmetrically distributed about the central axis of the cleaning box. Two sets of transmission rods and cleaning belts are provided, which are symmetrically distributed about the central axis of the cleaning box. The surface of the cleaning belt is fixed with cleaning bristles, which are distributed in an array.

[0013] Furthermore, the outer wall of the fourth bevel gear is provided with several sets of teeth, the fourth bevel gear is meshed with the second connecting rod, the transmission disk is provided with two sets, and the transmission disk is symmetrically distributed about the central axis of the third connecting rod.

[0014] Furthermore, the outer wall of the transmission block is fitted to the inner wall of the swing block, and the diameter of the transmission block is equal to the width of the inner diameter of the swing block. Several sets of cleaning rods are fixed at the top of the cleaning rod, and the cleaning rods are arranged in an array. Two sets of swing blocks and cleaning rods are provided, and the swing blocks and cleaning rods are symmetrically distributed about the central axis of the fourth connecting rod. A chip removal groove is opened at the bottom of the cleaning box, so that the device can automatically clean the visual monitoring camera and ensure the stability of detection accuracy. After the detection is completed, the cover is rotated to open the cleaning groove at the top of the cleaning box. The multi-axis robotic arm extends the visual monitoring camera into the cleaning groove, and the drive component is activated to drive the transmission rod to rotate. The cleaning belt outside the transmission rod rubs against the camera lens to remove dust. At the same time, the internal structure of the cleaning box can self-clean the cleaning belt to avoid secondary pollution, and finally achieve the effect of maintaining the clarity of the camera and ensuring the accuracy of subsequent detection.

[0015] Furthermore, the testing platform is equipped with a traveling track on its exterior, and a multi-axis robotic arm is fixed to the top of the testing platform. A visual monitoring camera is fixed to one end of the multi-axis robotic arm.

[0016] Furthermore, the device is equipped with two sets of traveling tracks and two sets of multi-axis robotic arms. The traveling tracks and multi-axis robotic arms are symmetrically distributed about the central axis of the inspection platform, enabling the device to adapt to complex inspection environments for special equipment and achieve accurate visual inspection in multiple scenarios. Activating the traveling tracks can move the entire device inside pipes, on equipment surfaces, and other areas, overcoming the limitations of narrow, high-altitude, and other dangerous environments that are difficult for manual inspection to access. The multi-axis robotic arms can flexibly adjust the angle and position of the visual monitoring camera to ensure that the camera can be aimed at areas with defects such as cracks and corrosion on the surface of special equipment, eliminating the need for manual hand-held inspection equipment. Ultimately, this achieves the effect of expanding the inspection range and improving inspection safety and accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall clean state structure of the present invention; Figure 3 This is a schematic diagram of the multi-axis robotic arm structure of the present invention; Figure 4 This is a schematic diagram of the overall structure of the present invention; Figure 5 For the present invention Figure 4 Enlarged cross-sectional view of a portion of point A in the middle section; Figure 6 This is a cross-sectional structural diagram of the limiting mechanism and the camera panel cleaning mechanism of the present invention; Figure 7 For the present invention Figure 6 Enlarged cross-sectional view of section B in the middle section; Figure 8 For the present invention Figure 6 Enlarged cross-sectional view of section C in the middle; Figure 9 This is a schematic diagram of the limiting mechanism and camera panel cleaning mechanism of the present invention; Figure 10 This is a schematic diagram of the limiting mechanism structure of the present invention; Figure 11 For the present invention Figure 9 A magnified schematic diagram of a partial cross-section at point D.

[0018] In the diagram: 1. Inspection platform; 2. Tracked vehicle; 3. Multi-axis robotic arm; 4. Visual monitoring camera; 5. Workbench; 6. Limiting mechanism; 601. First servo motor; 602. First connecting rod; 603. Work plate; 604. Support base; 605. Second servo motor; 606. Bidirectional lead screw; 607. First limiting block; 608. Second limiting block; 609. Limiting ring; 610. First bevel gear; 611. Second bevel gear; 612. Second connecting rod; 613. Third bevel gear; 7. Camera panel cleaning mechanism; 701. Cleaning box; 702. Cover plate; 703. Transmission rod; 704. Cleaning belt; 705. Third connecting rod; 706. Fourth bevel gear; 707. Transmission plate; 708. Transmission block; 709. Swing block; 710. Fourth connecting rod; 711. Cleaning rod. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] In the description of this application, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0022] Example 1 Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 This is a schematic diagram of the overall clean state structure of the present invention. Figure 3 This is a schematic diagram of the multi-axis robotic arm structure of the present invention. Figure 4 This is a schematic diagram of the overall structure of the present invention. Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the present invention provides a special equipment inspection robot, including an inspection platform 1, a workbench 5 fixed to the top of the inspection platform 1, a limit mechanism 6 fixed inside the workbench 5, a camera panel cleaning mechanism 7 fixed to the top of the inspection platform 1, a traveling track 2 installed on the outside of the inspection platform 1, a multi-axis robotic arm 3 fixed to the top of the inspection platform 1, a visual monitoring camera 4 fixed to one end of the multi-axis robotic arm 3, two sets of traveling tracks 2, two sets of multi-axis robotic arms 3, and the traveling tracks 2 and multi-axis robotic arms 3 are symmetrically distributed about the central axis of the inspection platform 1.

[0023] The above solution is adopted: by activating the traveling track 2, the entire device can be moved in the pipeline or the relevant area of ​​the special equipment, thereby moving the position of the multi-axis robotic arm 3 and the visual monitoring camera 4. The visual monitoring camera 4 can then perform visual monitoring of the inside of the pipeline or the relevant area of ​​the special equipment. When it is necessary to inspect the parts used on the special equipment, the parts are removed and placed on the device, the parts are rotated, and the multi-axis robotic arm 3 takes pictures of them for visual inspection.

[0024] Figure 7 For the present invention Figure 6 Enlarged cross-sectional view of section B in the middle. Figure 8 For the present invention Figure 6 Enlarged cross-sectional view of section C in the middle. Figure 9 This is a schematic diagram of the limiting mechanism and camera panel cleaning mechanism of the present invention. Figure 10 This is a schematic diagram of the limiting mechanism structure of the present invention. Figure 7 , Figure 9 and Figure 10 As shown, the limiting mechanism 6 includes a first servo motor 601, a first connecting rod 602, and a working plate 603. The first servo motor 601 is fixed to the bottom of the worktable 5. The first connecting rod 602 is fixed to the rotating end of the first servo motor 601. The working plate 603 is fixed to the top of the first connecting rod 602. The support base 604 is fixed to the top of the working plate 603. A second servo motor 605 is fixed to the outside of the support base 604. A bidirectional lead screw 606 is fixed to the rotating end of the second servo motor 605. A first limiting block 607 is threaded to the outside of the bidirectional lead screw 606. A second limiting block 608 is threaded to the outside of the bidirectional lead screw 606. The first limiting block 607 and the second limiting block 608 are symmetrically distributed about the central axis of the bidirectional lead screw 606. The height of the limiting ring 609 is equal to the height of the first limiting block 607 and the second limiting block 608. Two sets of buffer pads are fixed to the outside of the first limiting block 607 and the second limiting block 608.

[0025] like Figure 7 , Figure 9 and Figure 10 As shown, a limit ring 609 is fixed to the top of the working disc 603, a first bevel gear 610 is fixed to the outside of the first connecting rod 602, a second connecting rod 612 is rotatably connected to the inside of the worktable 5, a second bevel gear 611 is fixed to the outside of the second connecting rod 612, a third bevel gear 613 is fixed to the outside of the second connecting rod 612, several sets of teeth are fixed to the outer wall of the first bevel gear 610, several sets of teeth are fixed to the outer wall of the second bevel gear 611, and the first bevel gear 610 and the second bevel gear 611 are meshed together.

[0026] The above solution involves placing the special equipment part to be inspected inside the limiting ring 609 on the working plate 603, and then starting the second servo motor 605 to rotate the bidirectional lead screw 606. The rotation of the bidirectional lead screw 606 causes the second limiting block 608 and the first limiting block 607 to move in opposite directions, thereby clamping the special equipment part in the middle. When it is necessary to inspect hollow parts, the first limiting block 607 and the second limiting block 608 are first positioned close to the middle of the bidirectional lead screw 606. After placing the part, the second servo motor 605 is started to unfold it, providing internal support for the special equipment part. The first servo motor 601 is then started to rotate the first connecting rod 602 and the working plate 603, thereby causing the special equipment part to rotate.

[0027] Example 2 Based on Example 1, the embodiments of the present invention can be further improved as follows: Figure 5 For the present invention Figure 4 Enlarged cross-sectional view of a portion of point A in the middle. Figure 6 This is a cross-sectional schematic diagram of the limiting mechanism and the camera panel cleaning mechanism of the present invention. Figure 8 For the present invention Figure 6 Enlarged cross-sectional view of section C in the middle. Figure 9 This is a schematic diagram of the limiting mechanism and camera panel cleaning mechanism of the present invention. Figure 11 For the present invention Figure 10 A magnified structural diagram of a partial cross-section at point D. (See diagram below.) Figure 5 , Figure 6 , Figure 8 , Figure 9 and Figure 11 As shown, the camera panel cleaning mechanism 7 includes a cleaning box 701, a cover plate 702, and a transmission rod 703. The cleaning box 701 is fixed to the top of the detection table 1. The top of the cleaning box 701 is rotatably connected to the cover plate 702. The transmission rod 703 is rotatably connected inside the cleaning box 701. A cleaning belt 704 is sleeved on the outside of the transmission rod 703. Two sets of cleaning grooves are opened at the top of the cleaning box 701. The cleaning grooves are symmetrically distributed about the central axis of the cleaning box 701. Two sets of transmission rods 703 and cleaning belts 704 are provided. The transmission rods 703 and cleaning belts 704 are symmetrically distributed about the central axis of the cleaning box 701. Cleaning bristles are fixed on the surface of the cleaning belt 704. The cleaning bristles are distributed in an array.

[0028] like Figure 5 , Figure 6 , Figure 8 , Figure 9 and Figure 11As shown, a third connecting rod 705 is rotatably connected inside the cleaning box 701. A fourth bevel gear 706 is fixed to the outside of the third connecting rod 705. A transmission disc 707 is also fixed to the outside of the third connecting rod 705. The outer wall of the fourth bevel gear 706 has several sets of teeth. The fourth bevel gear 706 meshes with the second connecting rod 612. Two sets of transmission discs 707 are provided, and the transmission discs 707 are symmetrically distributed about the central axis of the third connecting rod 705. A transmission block 708 is fixed to the outside of the transmission disc 707. The fourth connecting rod 706 is rotatably connected inside the cleaning box 701. A swing block 709 is fixed to the outside of the fourth connecting rod 710, and a cleaning rod 711 is fixed to the outside of the fourth connecting rod 710. The outer wall of the transmission block 708 is attached to the inner wall of the swing block 709. The diameter of the transmission block 708 is equal to the width of the inner diameter of the swing block 709. Several sets of cleaning rods are fixed to the top of the cleaning rod 711. The cleaning rods are arranged in an array. There are two sets of swing blocks 709 and cleaning rods 711. The swing blocks 709 and cleaning rods 711 are symmetrically distributed about the central axis of the fourth connecting rod 710. A chip removal groove is opened at the bottom of the cleaning box 701.

[0029] The above solution involves rotating the cover 702 after the special equipment inspection is completed, opening the cleaning tank, and inserting the visual monitoring camera 4 into the cleaning tank via the multi-axis robotic arm 3. The electric motor connected to the transmission rod 703 is then activated, causing the transmission rod 703 to rotate and move the cleaning belt 704. The cleaning bristles on the surface of the cleaning belt 704 then contact the visual monitoring camera 4, cleaning it. After cleaning, the visual monitoring camera 4 is reset by the multi-axis robotic arm 3. Simultaneously, when the first servo motor 601 is started again, the special equipment parts on the worktable 603 undergo rotational inspection. The rotation of the first connecting rod 602 can drive the first bevel gear 610 to rotate, which in turn drives the second bevel gear 611, the second connecting rod 612 and the third bevel gear 613 to rotate. The third bevel gear 613 drives the fourth bevel gear 706 and the third connecting rod 705 to rotate, which in turn drives the transmission disc 707 and the transmission block 708 to rotate. When the transmission block 708 rotates, it can drive the swing block 709 to swing. The connection between the swing block 709 and the fourth connecting rod 710 transmits the swing to the cleaning rod 711, so that when the cleaning rod 711 swings, it can contact the cleaning bristles of the moving cleaning belt 704.

[0030] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0031] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0032] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A special equipment inspection robot, comprising an inspection table (1), characterized in that: The top of the testing station (1) is fixed with a workbench (5), the inside of the workbench (5) is fixed with a limit mechanism (6), and the top of the testing station (1) is fixed with a camera panel cleaning mechanism (7). The limiting mechanism (6) includes a first servo motor (601), a first connecting rod (602), and a working plate (603). The first servo motor (601) is fixed at the bottom inside the worktable (5). The first connecting rod (602) is fixed at the rotating end of the first servo motor (601). The working plate (603) is fixed at the top end of the first connecting rod (602). The support base (604) is fixed at the top end of the working plate (603). A second servo motor (605) is fixed at the outside of the support base (604). A bidirectional lead screw (606) is fixed at the rotating end of the second servo motor (605). The camera panel cleaning mechanism (7) includes a cleaning box (701), a cover plate (702), and a transmission rod (703). The cleaning box (701) is fixed to the top of the testing table (1). The top of the cleaning box (701) is rotatably connected to the cover plate (702). The inside of the cleaning box (701) is rotatably connected to the transmission rod (703). The outside of the transmission rod (703) is fitted with a cleaning belt (704). The inside of the cleaning box (701) is rotatably connected to a third connecting rod (705). The outside of the third connecting rod (705) is fixed with a fourth bevel gear (706).

2. The special equipment inspection robot according to claim 1, characterized in that: The external thread of the bidirectional lead screw (606) is connected to a first limiting block (607), the external thread of the bidirectional lead screw (606) is connected to a second limiting block (608), the top of the working plate (603) is fixed with a limiting ring (609), the external of the first connecting rod (602) is fixed with a first bevel gear (610), the internal of the worktable (5) is rotatably connected to a second connecting rod (612), the external of the second connecting rod (612) is fixed with a second bevel gear (611), and the external of the second connecting rod (612) is fixed with a third bevel gear (613).

3. The special equipment inspection robot according to claim 2, characterized in that: The first limiting block (607) and the second limiting block (608) are symmetrically distributed about the central axis of the bidirectional lead screw (606). The height of the limiting ring (609) is equal to the height of the first limiting block (607) and the second limiting block (608). Two sets of buffer pads are fixed on the outside of the first limiting block (607) and the second limiting block (608).

4. The special equipment inspection robot according to claim 2, characterized in that: The outer wall of the first bevel gear (610) is fixed with several sets of teeth, and the outer wall of the second bevel gear (611) is fixed with several sets of teeth. The first bevel gear (610) and the second bevel gear (611) are meshed together.

5. The special equipment inspection robot according to claim 1, characterized in that: The third connecting rod (705) is externally fixed with a transmission disc (707), the transmission disc (707) is externally fixed with a transmission block (708), the cleaning box (701) is internally rotatably connected with a fourth connecting rod (710), the fourth connecting rod (710) is externally fixed with a swing block (709), and the fourth connecting rod (710) is externally fixed with a cleaning rod (711).

6. The special equipment inspection robot according to claim 1, characterized in that: The top of the cleaning box (701) is provided with two sets of cleaning grooves, which are symmetrically distributed about the central axis of the cleaning box (701). There are two sets of transmission rods (703) and cleaning belts (704), which are symmetrically distributed about the central axis of the cleaning box (701). The surface of the cleaning belt (704) is fixed with cleaning bristles, which are distributed in an array.

7. The special equipment inspection robot according to claim 5, characterized in that: The outer wall of the fourth bevel gear (706) is provided with several sets of teeth. The fourth bevel gear (706) is meshed with the second connecting rod (612). The transmission disk (707) is provided with two sets. The transmission disk (707) is symmetrically distributed about the central axis of the third connecting rod (705).

8. The special equipment inspection robot according to claim 5, characterized in that: The outer wall of the transmission block (708) is attached to the inner wall of the swing block (709). The diameter of the transmission block (708) is equal to the width of the inner diameter of the swing block (709). Several sets of cleaning rods are fixed at the top of the cleaning rod (711). The cleaning rods are arranged in an array. There are two sets of swing blocks (709) and cleaning rods (711). The swing blocks (709) and cleaning rods (711) are symmetrically distributed about the central axis of the fourth connecting rod (710). The bottom of the cleaning box (701) is provided with a chip removal groove.

9. The special equipment inspection robot according to claim 1, characterized in that: The testing platform (1) is equipped with a traveling track (2) on its outside. A multi-axis robotic arm (3) is fixed to the top of the testing platform (1). A visual monitoring camera (4) is fixed to one end of the multi-axis robotic arm (3).

10. The special equipment inspection robot according to claim 9, characterized in that: The traveling track (2) is provided in two sets, and the multi-axis robotic arm (3) is provided in two sets. The traveling track (2) and the multi-axis robotic arm (3) are symmetrically distributed about the central axis of the inspection table (1).

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