Wheel-foot integrated urban road and infrastructure inspection robot

Abstract

The utility model relates to the technical field of intelligent robots, and discloses a wheel-foot integrated urban road and infrastructure inspection robot which comprises a machine chest, connecting blocks are rotatably connected to the four corners of the bottom of the machine chest, track keys are fixedly connected to one sides of the outer walls of a plurality of fixing blocks, and the track keys are fixedly connected to the other sides of the outer walls of the fixing blocks. A control mechanism is rotationally connected to the right side of the top of the machine chest cavity, a carrying mechanism is rotationally connected to the top of the outer wall of the machine chest cavity, and the carrying mechanism is used for executing key components of precise operation and flexible carrying. According to the utility model, a supporting key at the bottom of the robot adopts an H-shaped joint double-shaft design, and a first rotating shaft is a horizontal shaft and is in different-plane crossed layout with a second rotating shaft inclined by 72 degrees, so that the problem of motion interference is solved; a five-degree-of-freedom mechanical arm structure, a damping structure of a head connecting key and a command receiving control part are arranged; the improvement of the cross key and the H-shaped joint improves the anti-vibration performance of the connecting piece.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent robot technical field especially relates to a wheel-foot integrated city road and infrastructure inspection robot. BACKGROUND

[0002] Wheel-foot integrated inspection robot mainly faces city road damage detection and infrastructure intelligent operation and maintenance, can independently plan path, autonomously avoid obstacles and voice interaction and long endurance time, obtains the environment around the robot through the head and the multi-camera at the body part, detects road surface damage, well lid breakage and road signboard breakage, helps road manager to carry out traffic planning and management, the flame sensor carried can adjust the identification sensitivity of flame according to the set threshold, can detect the abnormal fire situation of surrounding stores and road section in the inspection process, the heart rate blood oxygen sensor can conveniently and quickly detect the heart rate blood oxygen condition of the unexpected situation of the pedestrian on the road in the inspection process.

[0003] City road and infrastructure inspection robot structure is mainly divided into wheel type, foot type and track type, each has advantages and disadvantages, wheel type robot moves steadily and efficiently, is difficult to cope with rugged terrain, foot type robot has strong terrain adaptability and can cross obstacles, track type robot is suitable for complex terrain, city road and infrastructure inspection robot structure all have respective advantages, but in the existing city road and infrastructure inspection robot, the motion of mechanical orthogonal joint exists mutual interference, so that the thigh part cannot realize large amplitude swing, influence the action flexibility of robot, when facing complex terrain, the robot is difficult to make suitable action adjustment, thereby leading to poor terrain adaptability, need to consume more energy to maintain movement, after long time operation, reduce the endurance of robot, the anti-vibration performance of mechanical internal connecting piece is poor, and the poor anti-vibration performance makes the connecting piece more easily damaged in the vibration environment. SUMMARY

[0004] In order to make up for the above shortcomings, the utility model provides a wheel-foot integrated city road and infrastructure inspection robot, aims at improving the motion of mechanical orthogonal joint in prior art, so that the thigh part cannot realize large amplitude swing, influence the action flexibility of robot, when facing complex terrain, the robot is difficult to make suitable action adjustment, thereby leading to poor terrain adaptability, need to consume more energy to maintain movement, after long time operation, reduce the endurance of robot, the anti-vibration performance of mechanical internal connecting piece is poor, and the poor anti-vibration performance makes the connecting piece more easily damaged in the vibration environment.

[0005] In order to achieve the above object, the utility model discloses the following technical scheme: a wheel-foot integrated city road and infrastructure inspection robot, including machine chest cavity, the bottom four corner of machine chest cavity is rotatably connected with the connecting block, the outer wall left and right sides of a plurality of connecting blocks are rotatably connected with cross key no.

[0006] Further description of the above technical scheme:

[0007] The carrying mechanism includes a base key rotatably connected to the top rear side of the machine chest cavity, a mechanical arm connecting key rotatably connected to the inner wall of the base key, an adjustment key one rotatably connected to the outer wall of the mechanical arm connecting key, an adjustment key two rotatably connected to the inner wall of the adjustment key one, a mechanical grab rotatably connected to the outer wall left side of the adjustment key two, and a clamping plate rotatably connected to the top left and right sides of the mechanical grab.

[0008] Further description of the above technical scheme:

[0009] The outer wall right side of the control mechanism is fixedly connected with a display screen, and the outer wall rear side of the control mechanism is provided with a button.

[0010] Further description of the above technical scheme:

[0011] The outer wall one side of the foot plate key is rotatably connected with an auxiliary wheel, and the outer wall of the auxiliary wheel is equidistantly provided with anti-skid lines.

[0012] Further description of the above technical scheme:

[0013] A plurality of photovoltaic panels are provided on the top left side of the machine chest cavity, and a plurality of movable holes are provided on the outer wall of the machine chest cavity.

[0014] Further description of the above technical scheme:

[0015] The outer wall left side of the control mechanism is fixedly connected with a fixed plate, and the outer wall bottom of the fixed plate is fixedly connected with a head connecting key.

[0016] Further description of the above technical scheme:

[0017] The inner wall bottom of the machine chest cavity is fixedly connected with a backing plate, and the top of the four corners of the backing plate is fixedly connected with a supporting block.

[0018] As a further description of the above technical solutions:

[0019] A plurality of fixing holes are formed in the left and right sides of the outer wall of the base key, and a rotating shaft is rotatably connected to the top of the inner wall of the adjusting key two.

[0020] The utility model has the advantages of the following beneficial effects:

[0021] 1. In the utility model, the four corner structures of the robot bottom support its movement, the control mechanism at the top coordinates the action, the outer wall of the cross key one has a boss structure, the quick release interface is embedded with an anti-loose clamping groove, the leg assembly and the chest cavity are quickly disassembled and assembled, the joint torsional rigidity is ensured, the cross key one inner wall is connected with the supporting key and the square connecting key, the supporting key adopts H type joint double shaft design, the first rotating shaft is horizontal shaft and the second rotating shaft is inclined 72 degrees, the cross layout solves the motion interference problem, the five degree of freedom mechanical arm structure expands the leg swing range, supports the weight and transmits the motion, the control mechanism is located at the top, the head connecting key's damping structure receives the instruction control part, the terrain adaptability is improved, the solar photovoltaic power generation system at the back of the robot improves the endurance, the improvement of the cross key and the H type joint improves the anti-vibration performance of the connecting piece, and the maintenance cost is reduced.

[0022] 2. In the utility model, the base key of the carrying mechanism is connected at the top rear side of the machine chest cavity, so that the working range of the mechanical arm is expanded, the inner wall of the base key is rotatably connected with the mechanical arm connecting key in the middle, the pitching motion in the vertical plane is realized, the outer wall of the mechanical arm connecting key is rotatably connected with the adjusting key one at the front and rear sides, the inner wall of the adjusting key one is rotatably connected with the adjusting key two at the front and rear sides, which is used for fine adjustment of the position and posture of the mechanical grab, the outer wall of the adjusting key two is rotatably connected with the mechanical grab at the left side, and the top and left and right sides of the mechanical grab are rotatably connected with the clamping plate. By controlling the rotation of the clamping plate, the target object is grabbed and released. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A perspective view of a wheel-foot integrated urban road and infrastructure inspection robot is provided for the utility model;

[0024] Figure 2 A front view of a wheel-foot integrated urban road and infrastructure inspection robot is provided for the utility model;

[0025] Figure 3 A side view of a wheel-foot integrated urban road and infrastructure inspection robot is provided for the utility model;

[0026] Figure 4The utility model provides a kind of local structure split diagram of wheel-foot integrated urban road and infrastructure inspection robot is proposed by the utility model;

[0027] Figure 5 The utility model provides a kind of carrying mechanism split diagram of wheel-foot integrated urban road and infrastructure inspection robot is proposed by the utility model.

[0028] Legend:

[0029] 1, machine chest cavity;2, carrying mechanism;201, base key;202, mechanical arm connecting key;203, adjusting key one;204, adjusting key two;205, mechanical grab;206, clamping plate;3, connecting block;4, cross key one;5, support key;6, square connecting key;7, fixed block;8, cross key two;9, foot plate key;10, track key;11, control mechanism;12, display screen;13, button;14, auxiliary wheel;15, anti-skid pattern;16, photovoltaic panel;17, movable hole;18, fixed plate;19, head connecting key;20, pad;21, support block;22, fixed hole;23, rotating shaft. Specific embodiments

[0030] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0031] Reference Figure 1 , Figure 3 And Figure 4 An embodiment provided by the utility model: a kind of wheel-foot integrated urban road and infrastructure inspection robot, including machine chest cavity 1, the bottom four corners of machine chest cavity 1 are rotatably connected with connecting block 3, the outer wall left and right sides of multiple connecting blocks 3 are rotatably connected with cross key one 4, the inner wall bottom of cross key one 4 is rotatably connected with support key 5, the inner wall bottom of support key 5 is rotatably connected with square connecting key 6, the inner wall of square connecting key 6 is fixedly connected with fixed block 7, the outer wall one side of bottom fixed block 7 is fixedly connected with cross key two 8, the outer wall bottom of cross key two 8 is fixedly connected with foot plate key 9, the outer wall one side of multiple fixed blocks 7 is fixedly connected with track key 10, the top right side of machine chest cavity 1 is rotatably connected with control mechanism 11, the outer wall top of machine chest cavity 1 is rotatably connected with carrying mechanism 2, carrying mechanism 2 is used to execute the key component of precision operation and flexible carrying, the outer wall right side of control mechanism 11 is fixedly connected with display screen 12, the outer wall rear side of control mechanism 11 is provided with button 13;

[0032] Specifically, the robot takes the machine chest 1 as the base, the connecting structure of the four corners at the bottom supports the movement function, the control mechanism 11 at the top is responsible for action control and coordination, the machine chest 1 is connected with the rotating connecting block 3 at the bottom, which provides action flexibility and adapts to different terrains and postures. The outer wall of the connecting block 3 is connected with the cross key 4, which further transmits motion and changes the direction of force, increasing the flexibility of the bottom structure. The inner wall of the cross key 4 is connected with the support key 5 and the square connecting key 6, which supports the weight of the robot and transmits motion. The inner wall of the square connecting key 6 is fixedly connected with the fixed block 7, which connects each component. The outer wall of the fixed block 7 is connected with the cross key 8 and the track key 10, the cross key 8 adjusts the angle of the foot plate key 9 to adapt to the ground, and the track key 10 connects the track to provide power. The control mechanism 11 is located at the top of the machine chest 1, receives instructions to control the components of the robot, and the display screen 12 is connected on the right side of the outer wall of the control mechanism 11, which makes it convenient for users to view relevant information and increase the dynamic effect of the robot. The outer wall of the control mechanism 11 is installed with buttons 13, which provide a physical interface for users to directly operate the control mechanism 11, so that users can control the operation of the device through simple pressing action.

[0033] Referring to Figure 1 , Figure 2 and Figure 5 , the carrying mechanism 2 includes a base key 201, which is rotatably connected to the top rear side of the machine chest 1, the inner wall of the base key 201 is rotatably connected with a mechanical arm connecting key 202 in the middle, the outer wall of the mechanical arm connecting key 202 is rotatably connected with an adjusting key 203 in front and back, the inner wall of the adjusting key 203 is rotatably connected with an adjusting key 204 in front and back, the outer wall of the adjusting key 204 is rotatably connected with a mechanical grab 205 on the left side, the top and left side of the mechanical grab 205 are rotatably connected with a clamping plate 206, the outer wall of the foot plate key 9 is rotatably connected with an auxiliary wheel 14 on one side, the outer wall of the auxiliary wheel 14 is equally provided with anti-slip lines 15, the top left side of the machine chest 1 is provided with a plurality of photovoltaic panels 16, and the outer wall of the machine chest 1 is provided with a plurality of movable holes 17 around;

[0034] Specifically, the base key 201 of the carrying mechanism 2 is connected to the top rear side of the machine chest 1, allowing the base key 201 to rotate around the connection point, thereby expanding the working range of the mechanical arm. The inner wall of the base key 201 is connected to the mechanical arm connection key 202 in the middle, realizing the pitch movement in the vertical plane, and adapting to different height targets. The outer wall of the mechanical arm connection key 202 is connected to the adjustment key one 203 in front and back, further improving the flexibility of the mechanical arm, and realizing the front and back fine adjustment. The inner wall of the adjustment key one 203 is connected to the adjustment key two 204 in front and back, which is used for fine adjustment of the position and posture of the mechanical grab 205. The outer wall of the adjustment key two 204 is connected to the mechanical grab 205 on the left side, allowing it to adjust the orientation to adapt to different targets. The top and left and right sides of the mechanical grab 205 are connected to the clamping plate 206, which can realize the grabbing and releasing of the target object by controlling the rotation of the clamping plate 206, and is connected to the auxiliary wheel 14 on the outer wall of the foot plate key 9. The outer wall of this auxiliary wheel 14 is equally provided with anti-skid lines 15 to ensure stable grip in various operating environments, and a plurality of photovoltaic panels 16 are provided on the top left side of the machine chest 1, which can effectively absorb solar energy to provide additional energy source for the machine. In order to further enhance the flexibility and functionality of the machine, a plurality of movable holes 17 are provided on the outer wall of the machine chest 1, which can be used to install different accessories or perform maintenance work.

[0035] Referring to Figure 1 , Figure 2 and Figure 3 , the outer wall of the control mechanism 11 is fixedly connected with a fixed plate 18, the outer wall of the fixed plate 18 is fixedly connected with a head connection key 19, the inner wall of the machine chest 1 is fixedly connected with a pad 20, the top of the pad 20 is fixedly connected with a support block 21 at four corners, and the outer wall of the base key 201 is provided with a plurality of fixed holes 22 on the left and right sides, and the inner wall of the adjustment key two 204 is rotatably connected with a rotating shaft 23 at the top;

[0036] Specifically, the left outer wall of the control mechanism 11 is connected through the fixed plate 18, which plays the role of a bridge and support, ensures the stability of the structure, and the fixed plate 18 connects the control mechanism 11 with the robot head, which is convenient for controlling the components of the head. The head connecting key 19 is located at the bottom of the fixed plate 18 and has a rotating function, allowing the robot head to flexibly adjust the orientation according to task requirements, enhancing the environmental perception ability. The inner wall of the machine chest cavity 1 is fixed with a cushion plate 20 at the bottom, which provides buffering and support, absorbs vibration and impact force during movement, protects the internal components and supports the components above. The support block 21 is fixed at the top corner of the cushion plate 20, which enhances the support ability and ensures the stable work of the components above, improving the stability and reliability of the robot structure. The outer wall of the base key 201 is provided with a fixed hole 22 for installing and fixing other components, and the connection between the robot components is stable through the connecting piece. The inner wall of the adjusting key two 204 is rotatably connected with the rotating shaft 23 at the top, which provides rotating ability. The adjusting key two 204 is used to adjust the position or posture of the robot components, and flexible adjustment is realized through the rotation of the rotating shaft 23, improving the adaptability and flexibility.

[0037] Working principle: The robot takes the machine chest cavity 1 as the core main part, the connecting structure at the bottom of the four corners is used for supporting and realizing the moving function, the control mechanism 11 at the top right side is responsible for controlling and coordinating the overall action of the robot, the machine chest cavity 1 is rotatably connected with the connecting block 3 at the bottom of the four corners, the rotating function of the connecting block 3 provides flexibility for the subsequent action of the robot, according to the movement demand of the robot, to adapt to different terrain and movement posture change, the connecting block 3 can rotate relative to the machine chest cavity 1, so that the whole bottom support structure can better fit the ground, the outer wall of the connecting block 3 is rotatably connected with the cross key one 4 on the left and right sides, the cross key one 4 plays a role in further transmitting movement and changing the direction of force, the rotating connection with the connecting block 3 makes it can adjust the angle on the basis of the rotation of the connecting block 3, this multi-angle rotating cooperation increases the flexibility and adjustability of the bottom structure of the robot, when the robot encounters different terrain undulations, the cross key one 4 can adjust the position and angle of the support key 5 through rotation to maintain the balance of the robot, the inner wall bottom of the cross key one 4 is rotatably connected with the support key 5, the inner wall bottom of the support key 5 is rotatably connected with the square connecting key 6, the support key 5 mainly bears the role of supporting the weight of the robot, and the square connecting key 6 further connects and transmits movement, when the cross key one 4 rotates, it will drive the support key 5 to move, the movement of the support key 5 will be transmitted to the square connecting key 6, so that the square connecting key 6 also occurs corresponding rotation and position change, which can make the support structure of the bottom of the robot adaptively adjust according to the actual situation to adapt to different terrain conditions, the inner wall of the square connecting key 6 is fixedly connected with the fixed block 7, the existence of multiple fixed blocks 7 connects the bottom connecting parts together, the outer wall of the bottom fixed block 7 is fixedly connected with the cross key two 8 on one side, the outer wall bottom of the cross key two 8 is fixedly connected with the foot plate key 9, the foot plate key 9 directly contacts with the ground, which plays a role in supporting and walking, the cross key two 8 can adjust the angle of the foot plate key 9 within a certain range to better adapt to the unevenness of the ground, the outer wall of the multiple fixed blocks 7 is fixedly connected with the track key 10 on one side, the track key 10 can connect the track to provide power for the movement of the robot, through the rotation of the track, the robot realizes movement on different terrains, the top right side of the machine chest cavity 1 is rotatably connected with the control mechanism 11, the control mechanism 11 receives external instructions, control signals of the operator and preset program instructions, and controls each part of the robot according to these instructions, it is started through Web or voice instruction, first voiceprint and face recognition, confirm that it is the management personnel inputted in the database, accept the issued instruction, can import GIS map from Web to set the inspection path, at this time the head display screen 12 pops up the self-check interface, the voice broadcasts the state of each sensor, that is, green for normal, the mechanical arm is retracted to the storage position. The robot identifies the road surface by the camera, uses wheel type walking on flat place, and switches to foot type on rugged terrain. When moving along the predetermined path, the laser radar generates road surface 3D point cloud.Detecting the damage of road, well lid, signboard, triggering RGB-D camera, which is 1280*720 resolution local high-definition camera, picture and address uploading webpage, laser radar receiving object distance data generating 2D occupation grid map, updating map in real time during operation, realizing dynamic obstacle avoidance, after inspection, robot uploads data to webpage to form road health condition big data.

[0038] The carrying mechanism 2 is based on the base key 201, which is rotationally connected to the top rear side of the machine chest 1, so that the base key 201 can rotate around the connection point relative to the machine chest 1, so that the entire mechanical arm structure composed of the base key 201 and the subsequent connecting components can swing in the horizontal direction by a certain angle, thereby expanding the working range of the mechanical arm and enabling it to operate on targets at different positions. When the robot needs to grasp objects at different orientations, the rotation of the base key 201 can adjust the mechanical arm to the appropriate horizontal position. The inner wall of the base key 201 is rotationally connected to the mechanical arm connecting key 202 in the middle. The mechanical arm connecting key 202 can rotate the base key 201. The rotation mainly realizes the pitching movement of the mechanical arm in the vertical plane. Through the rotation of the mechanical arm connecting key 202, the mechanical arm can be adjusted in height, thereby adapting to target objects at different heights. When grabbing objects at high or low positions, the rotation of the mechanical arm connecting key 202 can make the mechanical gripper 205 reach the appropriate height. The outer wall of the mechanical arm connecting key 202 is rotationally connected to the adjustment key one 203 on the front and rear sides. The rotation of the adjustment key one 203 further increases the flexibility of the mechanical arm and can fine-tune the position of the mechanical gripper 205 in the front and rear directions. In cooperation with the movement of the base key 201 and the mechanical arm connecting key 202, the mechanical gripper 205 can more accurately reach the target position. When grabbing some objects with special positions, the rotation of the adjustment key one 203 can help the mechanical gripper 205 better align with the target. The inner wall of the adjustment key one 203 is rotationally connected to the adjustment key two 204 on the front and rear sides. The rotation of the adjustment key two 204 is also for fine adjustment of the position and attitude of the mechanical gripper 205. In cooperation with the adjustment key one 203, it further optimizes the positioning and angle of the mechanical gripper 205 in space to ensure that the mechanical gripper 205 can approach the target object with the appropriate attitude. The outer wall of the adjustment key two 204 is rotationally connected to the mechanical gripper 205 on the left side. The mechanical gripper 205 can rotate relative to the adjustment key two 204, which enables the mechanical gripper 205 to adjust its orientation to better adapt to target objects of different shapes and placement methods. Through the coordinated rotation of the preceding components, the mechanical gripper 205 is accurately moved to the target position and adjusted in orientation. The top and left sides of the mechanical gripper 205 are rotationally connected to the clamping plates 206. When the mechanical gripper 205 reaches the target position, the rotation of the clamping plates 206 can be controlled to realize the grabbing operation on the target object. The clamping plates 206 rotate relative to the mechanical gripper 205, and the two clamping plates 206 move closer or farther away, thereby clamping or releasing the target object to complete the grabbing and releasing actions.

[0039] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and is not intended to limit the present application, although the foregoing embodiments of the present application has been described in detail, for the skilled in the art, it still can be modified, or for part of the technical features of the equivalent replacement, the spirit and principles of the present application, made any modification, equivalent replacement, improvement, etc., should be included within the scope of the present application.

Claims

1. A wheel-foot integrated urban road and infrastructure inspection robot, comprising a machine chest cavity (1), characterized in that: The bottom four corners of the machine chest (1) are rotationally connected with connecting blocks (3), the outer walls of multiple connecting blocks (3) are rotationally connected with cross keys one (4) on the left and right sides, the inner walls of the cross keys one (4) are rotationally connected with support keys (5) at the bottom, the inner walls of the support keys (5) are rotationally connected with square connecting keys (6) at the bottom, the inner walls of the square connecting keys (6) are fixedly connected with fixed blocks (7), the outer walls of the fixed blocks (7) are fixedly connected with cross keys two (8) on one side at the bottom, the outer walls of the cross keys two (8) are fixedly connected with foot plate keys (9) at the bottom, the outer walls of multiple fixed blocks (7) are fixedly connected with track keys (10) on one side, the top right side of the machine chest (1) is rotationally connected with a control mechanism (11), and the outer wall top of the machine chest (1) is rotationally connected with a carrying mechanism (2). The carrying mechanism (2) is used to execute precise operation and flexible carrying key components.

2. The wheel-foot integrated urban road and infrastructure inspection robot according to claim 1, characterized in that: The carrying mechanism (2) comprises a base key (201), the base key (201) is rotationally connected to the top rear side of the machine chest (1), the inner wall of the base key (201) is rotationally connected with a mechanical arm connecting key (202) at the middle, the outer wall of the mechanical arm connecting key (202) is rotationally connected with an adjusting key one (203) on the front and rear sides, the inner wall of the adjusting key one (203) is rotationally connected with an adjusting key two (204) on the front and rear sides, the outer wall of the adjusting key two (204) is rotationally connected with a mechanical grab (205) on the left side, and the top left and right sides of the mechanical grab (205) are rotationally connected with clamping plates (206). 3.The wheel-foot integrated urban road and infrastructure inspection robot according to claim 1, wherein: The outer wall right side of the control mechanism (11) is fixedly connected with a display screen (12), and the outer wall rear side of the control mechanism (11) is provided with a button (13).

4. The wheel-foot integrated urban road and infrastructure inspection robot according to claim 1, characterized in that: The outer wall of the foot plate key (9) is rotationally connected with an auxiliary wheel (14) on one side, and anti-skid lines (15) are equidistantly formed on the outer wall of the auxiliary wheel (14).

5. The wheel-foot integrated urban road and infrastructure inspection robot according to claim 1, characterized in that: A plurality of photovoltaic panels (16) are formed on the top left side of the machine chest (1), and a plurality of movable holes (17) are formed on the outer wall of the machine chest (1).

6. The wheel-foot integrated urban road and infrastructure inspection robot according to claim 1, characterized in that: The outer wall left side of the control mechanism (11) is fixedly connected with a fixed plate (18), and the outer wall bottom of the fixed plate (18) is fixedly connected with a head connecting key (19).

7. The wheel-foot integrated urban road and infrastructure inspection robot according to claim 1, characterized in that: The inner wall bottom of the machine chest (1) is fixedly connected with a pad (20), and the top four corners of the pad (20) are fixedly connected with support blocks (21).

8. The wheel-foot integrated urban road and infrastructure inspection robot according to claim 2, characterized in that: Multiple fixed holes (22) are formed on the outer walls of the base keys (201) on the left and right sides, and the inner wall top of the adjusting key two (204) is rotationally connected with a rotating shaft (23).

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