A device inspection robot

Abstract

This application relates to the field of inspection robots and discloses an equipment inspection robot, including a rotating plate one, which is installed at the top of a steering mechanism. A rotating plate two and a fixed ring are rotatably installed on the inner wall of the rotating plate one. Two sets of support columns are rotatably installed in the middle of the rotating plate two, and an electromagnet is fixedly connected between the two sets of support columns. When the device crosses an obstacle, the carrier drives the steering mechanism and the rotating plate one to rotate around the axis of the support column, while the rotating plate two, the fixed ring, and the support columns do not rotate, thus ensuring the stability of the binocular camera along the direction of movement. The tilt perpendicular to the direction of movement of the device is stabilized by the mutual rotation and adaptation of the support columns and the fixed ring, providing stability for the support columns, electromagnets, permanent magnets, and binocular camera. By setting an electromagnet to generate a downward electromagnetic force on the counterweight block located inside it, the axis of the binocular camera and the permanent magnet is always kept in a vertical state, thus achieving the anti-tilt function of the binocular camera.

Description

Technical Field

[0001] This application relates to the field of inspection robot technology, and more particularly to an equipment inspection robot. Background Technology

[0002] Equipment inspection robots are unmanned intelligent devices used to inspect various problems, prevent accidents, and handle unexpected situations. In social life, municipal, power, communication, and drainage facilities all require regular monitoring. Equipment inspection robots generally have a mobile carrying platform that travels along a pre-set route. Cameras and various sensors can be installed on the robot for inspection. Under the control of the controller, the robot inspects the surrounding equipment along the pre-set route, effectively replacing manual labor and achieving a highly efficient transformation towards automation and intelligence in inspection.

[0003] In existing technologies, equipment inspection robots often face problems such as complex pre-set inspection routes and the possibility of bumps. Since the shock absorption system cannot significantly reduce the bumps caused by obstacles on the ground, the image quality of the camera on the top of the robot will drop sharply due to longitudinal shaking. Since the core inspection equipment such as cameras has limited weight, it cannot overcome the vibration caused by bumps. Therefore, the traditional combination of spring and damper is not suitable for equipment inspection robots. There is an urgent need for a synchronous low-delay response electromagnetic shock absorption to provide efficient buffering for equipment inspection robots. Summary of the Invention

[0004] This application proposes an equipment inspection robot with the advantage of good buffering effect, which is used to solve the problems in the prior art.

[0005] To achieve the above objectives, this application adopts the following technical solution: an equipment inspection robot, comprising: The vehicle is equipped with a laser rangefinder on its right side, and a steering mechanism and controller are installed inside the vehicle. Rotating plate one is installed at the top of the steering mechanism. Rotating plate two and a fixing ring are rotatably installed on the inner wall of rotating plate one. Two sets of support columns are rotatably installed in the middle of rotating plate two. An electromagnet is fixedly connected between the two sets of support columns. A connecting ring is movably installed on the outer surface of the support columns. A telescopic mechanism is fixedly connected to the top of the connecting ring. A connecting plate is fixedly installed on the top of the telescopic mechanism. A binocular camera is installed on the top of the connecting plate. A permanent magnet is fixedly installed in the middle of the connecting plate. The telescopic mechanism includes receiving cylinders fixedly installed on both sides of the bottom of the connecting plate. The receiving cylinders are movably fitted with telescopic columns and springs. The bottom end of the telescopic column is fixedly connected to the connecting ring. This device has been redesigned to provide anti-tilt and shock absorption functions for the binocular camera when encountering obstacles, significantly enhancing its practicality. To achieve this, the device incorporates a dual-axis tilting and clearance module, including a rotating plate 1, a rotating plate 2, a fixed ring, a support column, a connecting ring, a support column, a telescopic mechanism, and a connecting plate. The steering mechanism provides fixed support for the rotating plate 1. The rotating plate 2 and the fixed ring are perpendicular to the rotating plate 1 and rotate and connect to each other. When the device passes over an obstacle, the carrier drives the steering mechanism and the rotating plate 1 to rotate around the axis of the support column, while the rotating plate 2, the fixed ring, and the support column do not rotate. This ensures the stability of the binocular camera along the direction of movement. The tilt perpendicular to the direction of movement is stabilized by the mutual rotation of the support column and the fixed ring, providing stability for the support column, electromagnet, permanent magnet, and binocular camera. The electromagnet generates a downward electromagnetic force on the counterweight located inside, ensuring that the axis of the binocular camera and the permanent magnet remains vertical, thus achieving the anti-tilt function for the binocular camera.

[0006] Then, the device is equipped with a connecting ring that is movably sleeved on the outer surface of the support column, and a telescopic mechanism is set between the connecting plate and the connecting ring, so that the connecting plate can generate longitudinal displacement relative to the support column. The function of this design is: when the vehicle's wheels cross the obstacle, the controller uses the laser rangefinder to scan the obstacle's data in advance to predict how much the device as a whole needs to be lifted upwards, thereby controlling the electromagnet to increase the current and press the permanent magnet downwards, driving the connecting plate and the housing cylinder to compress the spring and store force, while simultaneously driving the binocular camera to move downwards, in order to counteract the upward bumping displacement caused by the device crossing the obstacle, so that the height of the binocular camera remains unchanged, thereby greatly improving the device's buffering effect.

[0007] Preferably, the steering mechanism includes a support platform located at the bottom of the vehicle cavity, a rotating cylinder rotatably mounted on the top of the support platform, a gear fixedly mounted on the outer surface of the rotating cylinder, and the top of the rotating cylinder fixedly connected to a rotating plate. The steering mechanism also includes a motor located inside the vehicle, a worm gear mounted on the output shaft of the motor, and the worm gear meshing with the gear. like Figure 4 As shown, the steering mechanism is responsible for the horizontal steering of the binocular camera. The motor drives the worm gear and gear to rotate, which in turn drives the rotating drum and rotating plate to rotate, ultimately driving the binocular camera to complete the horizontal rotation.

[0008] Preferably, both the first rotating plate and the second rotating plate are semi-circular in shape. The front and rear sides of the inner wall of the first rotating plate are fixedly connected to the support columns. The fixing ring is rotatably installed on the outer surface of the support column. The two ends of the spring are elastically connected to the telescopic column and the receiving cylinder, respectively. like Figure 4As shown, the semi-circular rotating plate one and rotating plate two can rotate relative to each other without interfering with each other. This prevents the binocular camera from tilting when the device encounters obstacles. The rotating plate one or rotating plate two respectively eliminates the tilt by rotating and adapting.

[0009] Preferably, the first rotating plate and the second rotating plate are perpendicular to each other, the fixed ring is circular, and a limiting ring is fixedly installed on one side of the outer surface of the support column, with the limiting ring abutting against the inner ring surface of the fixed ring. like Figure 4 As shown, the support column and the fixed ring are rotatably fitted together. The electromagnet is rotatably installed inside the fixed ring through the support column and is rotatably fitted together with the fixed ring. The limiting ring abuts against the inner ring surface of the fixed ring to prevent the support column from dislodging from the inside of the fixed ring.

[0010] Preferably, a counterweight is fixedly connected to the bottom of the electromagnet, and the center of gravity of the electromagnet and the counterweight as a whole is at the same height as the counterweight. like Figure 4 As shown, the counterweight is mainly used to lower the center of gravity of the electromagnet, while the electromagnet generates a continuous downward electromagnetic force on the permanent magnet, keeping the permanent magnet and the binocular camera in a constant vertical position, thereby maintaining the stability of the binocular camera.

[0011] Preferably, the first rotating plate is located outside the second rotating plate, and the diameter of the first rotating plate is larger than the diameter of the second rotating plate. like Figure 4 As shown, the second rotating plate can rotate freely around the axis of the support column inside the first rotating plate. This design ensures that the first rotating plate will not cause the second rotating plate and the fixed ring to tilt synchronously when the device rotates, which helps to improve the stability of the device.

[0012] Preferably, the permanent magnet is located inside the electromagnet, and the axis of the permanent magnet is collinear with the axis of the electromagnet; like Figure 1 As shown, when the electromagnet is energized, it generates a vertically downward electromagnetic force on the permanent magnet. When the vehicle's wheels cross an obstacle, the controller uses a laser rangefinder to scan the obstacle's data in advance to predict how much upward displacement the entire device needs to be lifted. This controls the electromagnet to increase the current and press the permanent magnet downward, causing the connecting plate and the housing cylinder to compress the spring and store energy. At the same time, it causes the binocular camera to move downward to counteract the upward bumping displacement caused by the device crossing the obstacle, keeping the binocular camera at a constant height and thus significantly improving the device's buffering effect.

[0013] Preferably, the top of the second rotating plate is fixedly connected to the bottom of the fixed ring, and the second rotating plate and the fixed ring are perpendicular to each other; like Figure 1 and Figure 4As shown, the rotating plate 2 and the fixed ring are fixedly connected and maintain an integrated design. The fixed ring can rotate around the axis of the support column on the inner wall of the rotating plate 1 and complete the rotational adaptation of the two.

[0014] The beneficial effects of this invention are as follows: 1. This device has been redesigned to achieve anti-tilt and shock absorption functions when the binocular camera encounters obstacles, significantly enhancing its practicality. To achieve this, the device is designed with a dual-axis tilting clearance module, including a rotating plate 1, a rotating plate 2, a fixed ring, a support column, a connecting ring, a support column, a telescopic mechanism, and a connecting plate. The steering mechanism provides fixed support for the rotating plate 1. The rotating plate 2 and the fixed ring are perpendicular to the rotating plate 1 and rotate to each other. When the device passes over an obstacle, the carrier drives the steering mechanism and the rotating plate 1 to rotate around the axis of the support column, while the rotating plate 2, the fixed ring, and the support column do not rotate, thus ensuring the stability of the binocular camera along the direction of movement. The tilt perpendicular to the direction of movement is achieved by the mutual rotation and adaptation of the support column and the fixed ring, providing stability for the support column, electromagnet, permanent magnet, and binocular camera. By setting an electromagnet to generate a downward electromagnetic force on the counterweight block located inside it, the axis of the binocular camera and the permanent magnet is always kept vertical, thus achieving the anti-tilt function of the binocular camera.

[0015] 2. Then, this device is equipped with a connecting ring that is movably fitted onto the outer surface of the support column, and a telescopic mechanism is set between the connecting plate and the connecting ring, so that the connecting plate can generate longitudinal displacement relative to the support column. The function of this design is: when the vehicle's wheels cross the obstacle, the controller uses the laser rangefinder to pre-scan the obstacle's data to predict how much the device as a whole needs to be lifted upwards, thereby controlling the electromagnet to increase the current and press the permanent magnet downwards, driving the connecting plate and the housing cylinder to compress the spring and store force, while simultaneously driving the binocular camera to move downwards, in order to counteract the upward bumping displacement caused by the device crossing the obstacle, so that the height of the binocular camera remains unchanged, thereby greatly improving the device's buffering effect. Attached Figure Description

[0016] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles of this application in a clear and understandable manner.

[0017] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein: Figure 1 This is a front sectional view of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged schematic diagram of the structure at point A; Figure 3This is a front view diagram of the overall structure of the present invention; Figure 4 This is a schematic diagram of the steering mechanism, rotating plate one, rotating plate two, fixing ring, support column, limiting ring, telescopic mechanism and binocular camera of the present invention. Figure 5 This is a schematic diagram showing the separation of the rotating plate 1, rotating plate 2, fixing ring, support column, limiting ring, telescopic mechanism and binocular camera of the present invention; Figure 6 This is a side view of the overall structure of the present invention; Figure 7 This is a schematic diagram of the structure of the rotating plate 1, rotating plate 2, fixed ring, support column, limiting ring, telescopic mechanism and electromagnet of the present invention.

[0018] The components are as follows: 1. Carrier; 2. Laser rangefinder; 3. Steering mechanism; 31. Support platform; 32. Rotary cylinder; 33. Gear; 34. Motor; 35. Worm gear; 4. Rotating plate one; 5. Rotating plate two; 6. Fixed ring; 7. Support column; 8. Limiting ring; 9. Telescopic mechanism; 91. Receiving cylinder; 92. Telescopic column; 93. Spring; 10. Electromagnet; 11. Counterweight; 12. Controller; 13. Connecting plate; 14. Binocular camera; 15. Permanent magnet; 16. Connecting ring; 17. Support column. 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 of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] Please see Figures 1-7 This embodiment discloses an equipment inspection robot, including: Vehicle 1, a laser rangefinder 2 is installed on the right side of vehicle 1, and a steering mechanism 3 and a controller 12 are installed inside vehicle 1; Rotating plate 1 4 is installed at the top of the steering mechanism 3. Rotating plate 2 5 and fixed ring 6 are rotatably installed on the inner wall of rotating plate 1 4. Two sets of support columns 7 are rotatably installed in the middle of rotating plate 2 5. Electromagnets 10 are fixedly connected between the two sets of support columns 7. Connecting ring 16 is movably installed on the outer surface of support column 7. Telescopic mechanism 9 is fixedly connected to the top of connecting ring 16. Connecting plate 13 is fixedly installed on the top of telescopic mechanism 9. Binocular camera 14 is installed on the top of connecting plate 13. Permanent magnet 15 is fixedly installed in the middle of connecting plate 13. The telescopic mechanism 9 includes a receiving cylinder 91 fixedly installed on both sides of the bottom of the connecting plate 13. The receiving cylinder 91 is movably sleeved with a telescopic column 92 and a spring 93. The bottom end of the telescopic column 92 is fixedly connected to the connecting ring 16. This device has been redesigned to provide anti-tilt and shock absorption functions for the binocular camera 14 when encountering obstacles, significantly enhancing its practicality. To achieve this, the device incorporates a dual-axis tilting and clearance module, including a rotating plate 1 4, a rotating plate 2 5, a fixing ring 6, a support column 7, a connecting ring 16, a support column 17, a telescopic mechanism 9, and a connecting plate 13. The steering mechanism 3 provides fixed support for the rotating plate 1 4. The rotating plate 2 5 and the fixing ring 6 are perpendicular to the rotating plate 1 4 and are rotatably connected to each other. When the device passes over an obstacle, the carrier 1 drives the steering mechanism 3 and the rotating plate 1 4. The first 4 rotates around the axis of the support column 17, while the second rotating plate 5, the fixed ring 6, and the support column 7 do not rotate, thus ensuring the stability of the binocular camera 14 on one side along the direction of movement. The tilt perpendicular to the direction of movement of the device is adapted by the mutual rotation of the support column 7 and the fixed ring 6 to provide stability for the support column 7, the electromagnet 10, the permanent magnet 15, and the binocular camera 14. By setting the electromagnet 10 to generate a downward electromagnetic force on the counterweight 11 located inside it, the axis of the binocular camera 14 and the permanent magnet 15 is always in a vertical state, which can achieve the anti-tilt function of the binocular camera 14.

[0021] Then, the device is equipped with a connecting ring 16 that is movably sleeved on the outer surface of the support column 7, and a telescopic mechanism 9 is provided between the connecting plate 13 and the connecting ring 16, so that the connecting plate 13 can generate longitudinal displacement relative to the support column 7. The purpose of this design is that when the wheels of the vehicle 1 cross the obstacle, the controller 12 uses the laser rangefinder 2 to scan the obstacle data in advance to predict how much displacement the device as a whole needs to be lifted upward, thereby controlling the electromagnet 10 to increase the current and press the permanent magnet 15 downward, driving the connecting plate 13 and the receiving cylinder 91 to compress the spring 93 to store force, and at the same time driving the binocular camera 14 to move downward to counteract the upward bumping displacement caused by the device crossing the obstacle, so that the height of the binocular camera 14 remains unchanged, thereby greatly improving the buffering effect of the device.

[0022] In this embodiment, the steering mechanism 3 includes a support platform 31 located at the bottom of the inner cavity of the carrier 1. A rotating cylinder 32 is rotatably mounted on the top of the support platform 31. A gear 33 is fixedly mounted on the outer surface of the rotating cylinder 32. The top of the rotating cylinder 32 is fixedly connected to the rotating plate 4. The steering mechanism 3 also includes a motor 34 located inside the carrier 1. A worm gear 35 is mounted on the output shaft of the motor 34. The worm gear 35 meshes with the gear 33. like Figure 4As shown, the steering mechanism 3 is responsible for the horizontal steering of the binocular camera 14. The motor 34 drives the worm gear 35 and gear 33 to rotate, which in turn drives the rotating drum 32 and rotating plate 4 to rotate, ultimately driving the binocular camera 14 to complete the horizontal rotation.

[0023] In this embodiment, both the first rotating plate 4 and the second rotating plate 5 are semi-circular in shape. The front and rear sides of the inner wall of the first rotating plate 4 are fixedly connected to the support column 17. The fixing ring 6 is rotatably installed on the outer surface of the support column 17. The two ends of the spring 93 are elastically connected to the telescopic column 92 and the receiving cylinder 91 respectively. like Figure 4 As shown, the semi-circular rotating plate 4 and rotating plate 5 can rotate relative to each other without interfering with each other. This prevents the binocular camera 14 from tilting when the device encounters obstacles. The rotating plate 4 or rotating plate 5 respectively eliminates the tilt by rotating and adapting.

[0024] In this embodiment, rotating plate 4 and rotating plate 5 are perpendicular to each other, the fixed ring 6 is circular, and a limiting ring 8 is fixedly installed on one side of the outer surface of the support column 7. The limiting ring 8 abuts against the inner ring surface of the fixed ring 6. like Figure 4 As shown, the support column 7 and the fixed ring 6 are rotatably fitted together. The electromagnet 10 is rotatably installed inside the fixed ring 6 through the support column 7 and is rotatably fitted together with the fixed ring 6. The limiting ring 8 abuts against the inner ring surface of the fixed ring 6 to prevent the support column 7 from dislodging from the inside of the fixed ring 6.

[0025] In this embodiment, a counterweight 11 is fixedly connected to the bottom of the electromagnet 10, and the center of gravity of the electromagnet 10 and the counterweight 11 are at the same height as the counterweight 11. like Figure 4 As shown, the counterweight 11 is mainly used to lower the center of gravity of the electromagnet 10, while the electromagnet 10 generates a continuous downward electromagnetic force on the permanent magnet 15, and keeps the vertical state of the permanent magnet 15 and the binocular camera 14 constant, thereby maintaining the stability of the binocular camera 14.

[0026] In this embodiment, the first rotating plate 4 is located outside the second rotating plate 5, and the diameter of the first rotating plate 4 is greater than the diameter of the second rotating plate 5. like Figure 4 As shown, the second rotating plate 5 can rotate freely inside the first rotating plate 4 around the axis of the support column 17. This design ensures that the first rotating plate 4 will not cause the second rotating plate 5 and the fixed ring 6 to tilt synchronously when the device rotates, which helps to improve the stability of the device.

[0027] In this embodiment, the permanent magnet 15 is located inside the electromagnet 10, and the axis of the permanent magnet 15 is collinear with the axis of the electromagnet 10. like Figure 1As shown, when the electromagnet 10 is energized, it generates a vertically downward electromagnetic force on the permanent magnet 15. When the wheels of the vehicle 1 cross the obstacle, the controller 12 uses the laser rangefinder 2 to scan the obstacle data in advance to predict how much displacement the device needs to be lifted. This controls the electromagnet 10 to increase the current and press the permanent magnet 15 downward, causing the connecting plate 13 and the receiving cylinder 91 to compress the spring 93 and store force. At the same time, it causes the binocular camera 14 to move downward to counteract the upward bumping displacement caused by the device crossing the obstacle, so that the height of the binocular camera 14 remains unchanged, thereby greatly improving the buffering effect of the device.

[0028] In this embodiment, the top of the rotating plate 5 is fixedly connected to the bottom of the fixing ring 6, and the rotating plate 5 and the fixing ring 6 are perpendicular to each other. like Figure 1 and Figure 4 As shown, the rotating plate 2 5 and the fixing ring 6 are fixedly connected and maintain an integrated design. The fixing ring 6 can rotate around the axis of the support column 17 on the inner wall of the rotating plate 1 4 and complete the rotational adaptation of the two.

[0029] Working principle: When this device is working: First, the counterweight 11 provides downward counterweight, lowering the center of gravity of the binocular camera 14 and providing stability for the binocular camera 14. At the same time, the controller 12 controls the electromagnet 10 to be energized, and generates an electromagnetic force downward on the permanent magnet 15. The direction is vertically downward. Through the permanent magnet 15 and the connecting plate 13, the receiving cylinder 91 is driven downward, and the spring 93 is compressed. The pressure is transmitted to the connecting ring 16 and the support column 7. The rebound force of the spring 93 and the downward electromagnetic force of the electromagnet 10 are balanced, and the binocular camera 14 is in a stationary state. Then, controller 12 controls the vehicle 1 to move along the inspection route, with the direction of movement horizontally to the right, such as... Figure 1 As shown, the laser rangefinder 2 located on the right side of the vehicle 1 emits a laser downwards and uses the reflected laser to determine whether there is an obstacle on the ground. It also calculates the height and three-dimensional dimensions of the obstacle by the time the laser returns. When the laser rangefinder 2 scans and detects an obstacle in front of the device's direction of movement, the controller 12 integrates the obstacle's three-dimensional dimension data transmitted by the laser rangefinder 2. When the wheel of the vehicle 1 contacts the obstacle, the controller increases the current of the electromagnet 10 and applies a greater electromagnetic force to the permanent magnet 15, forcing the permanent magnet 15 to move the connecting plate 13, the housing 91, and the binocular camera 14 downwards to accommodate the overall height increase when the device passes over the obstacle. When the wheel of the vehicle 1 runs over the obstacle, the device tilts. At this time, the electromagnet 10 and the counterweight 11 provide the necessary downward vertical pressure for the binocular camera 14 to stabilize it. The rotating plate 1 4 will rotate relative to the rotating plate 2 5, the fixing ring 6, and the binocular camera 14 to prevent the binocular camera 14 from tilting. Finally, when the binocular camera 14 needs to turn, the motor 34 drives the worm gear 35 and gear 33 to rotate, which in turn drives the rotating drum 32 and rotating plate 4 to rotate, thus realizing the turning of the binocular camera 14. It is only necessary to control the magnitude of the current of the electromagnet 10 to control the electromagnetic force it generates on the permanent magnet 15 and the downward stroke of the permanent magnet 15 after being subjected to the electromagnetic force. By driving the connecting plate 13 and the receiving cylinder 91 to compress the spring 93 to store force, when the device wheel crosses the obstacle, the current of the electromagnet 10 decreases synchronously, and the spring 93 drives the permanent magnet 15, the connecting plate 13 and the binocular camera 14 to reset.

[0030] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An equipment inspection robot, characterized in that, include: The vehicle (1) is equipped with a laser rangefinder (2) on its right side, and a steering mechanism (3) and a controller (12) are installed inside the vehicle (1). Rotating plate one (4) is installed at the top of the steering mechanism (3). Rotating plate two (5) and a fixing ring (6) are rotatably installed on the inner wall of rotating plate one (4). Two sets of support columns (7) are rotatably installed in the middle of rotating plate two (5). An electromagnet (10) is fixedly connected between the two sets of support columns (7). A connecting ring (16) is movably installed on the outer surface of the support column (7). A telescopic mechanism (9) is fixedly connected to the top of the connecting ring (16). A connecting plate (13) is fixedly installed on the top of the telescopic mechanism (9). A binocular camera (14) is installed on the top of the connecting plate (13). A permanent magnet (15) is fixedly installed in the middle of the connecting plate (13). The telescopic mechanism (9) includes a receiving cylinder (91) fixedly installed on both sides of the bottom of the connecting plate (13). The receiving cylinder (91) is movably sleeved with a telescopic column (92) and a spring (93). The bottom end of the telescopic column (92) is fixedly connected to the connecting ring (16).

2. The equipment inspection robot according to claim 1, characterized in that, The steering mechanism (3) includes a support platform (31) located at the bottom of the inner cavity of the carrier (1). A rotating cylinder (32) is rotatably mounted on the top of the support platform (31). A gear (33) is fixedly mounted on the outer surface of the rotating cylinder (32). The top of the rotating cylinder (32) is fixedly connected to the rotating plate (4). The steering mechanism (3) also includes a motor (34) located inside the carrier (1). A worm gear (35) is mounted on the output shaft of the motor (34). The worm gear (35) meshes with the gear (33).

3. The equipment inspection robot according to claim 2, characterized in that, Both the first rotating plate (4) and the second rotating plate (5) are semi-circular in shape. The front and rear sides of the inner wall of the first rotating plate (4) are fixedly connected to the support column (17). The fixed ring (6) is rotatably installed on the outer surface of the support column (17). The two ends of the spring (93) are elastically connected to the telescopic column (92) and the receiving cylinder (91) respectively.

4. The equipment inspection robot according to claim 3, characterized in that, The first rotating plate (4) and the second rotating plate (5) are perpendicular to each other. The fixed ring (6) is circular in shape. A limiting ring (8) is fixedly installed on one side of the outer surface of the support column (7). The limiting ring (8) abuts against the inner ring surface of the fixed ring (6).

5. The equipment inspection robot according to claim 4, characterized in that, The electromagnet (10) is fixedly connected to a counterweight (11) at its bottom. The center of gravity of the electromagnet (10) and the counterweight (11) is at the same height as the counterweight (11).

6. The equipment inspection robot according to claim 5, characterized in that, The first rotating plate (4) is located outside the second rotating plate (5), and the diameter of the first rotating plate (4) is greater than the diameter of the second rotating plate (5).

7. The equipment inspection robot according to claim 6, characterized in that, The permanent magnet (15) is located inside the electromagnet (10), and the axis of the permanent magnet (15) is collinear with the axis of the electromagnet (10).

8. The equipment inspection robot according to claim 7, characterized in that, The top of the rotating plate 2 (5) is fixedly connected to the bottom of the fixing ring (6), and the rotating plate 2 (5) and the fixing ring (6) are perpendicular to each other.

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