A kind of inspection robot for high-low voltage disc cabinet

Abstract

The utility model discloses a kind of for high-low voltage panel cabinet's inspection robot, comprising: main body, sensor, CPU analysis module, communication module, at least two operating arms, at least two triangular wheels and action track. Specifically, sensor is set on main body, and sensor is connected with CPU analysis module by mainboard;Communication module and CPU analysis module are set in the inside of main body, and communication module and CPU analysis module are connected by mainboard, and communication module is connected with the main control room of factory building;Operating arm is respectively set in the left part and right part of main body;Triangular wheel is respectively set in the front and rear of the bottom of main body, and action track is set below the bottom of main body.The utility model embodiment for high-low voltage panel cabinet's inspection robot can realize comprehensive equipment inspection, fast information transmission and timely emergency disposal, guarantee the reliability and safety of high-low voltage panel cabinet operation in power plant.

Description

Technical Field

[0001] This utility model relates to the field of nuclear power technology, and in particular to an inspection robot for high and low voltage control panels. Background Technology

[0002] Power plant inspections are a crucial means of ensuring the normal operation of equipment and systems and preventing accidents. Inspections can promptly identify potential safety issues, such as equipment malfunctions and leaks, allowing for appropriate corrective measures. They also help monitor equipment operating status, ensuring all systems operate at optimal conditions, thereby guaranteeing the continuity and reliability of power production. Currently, nuclear power plant inspections are mostly manual, with fixed frequency but unpredictable timing. This can lead to problems not being detected in time, and even when detected, immediate feedback to the main control system is required before any action is taken. This back-and-forth process can potentially escalate the problem.

[0003] Currently, some power plants have both fixed high-voltage inspection robots and outdoor high-voltage inspection robots. Some domestic power plants have installed fixed high-voltage switchboard inspection robots, which use tracks mounted on top of the switchboards to inspect equipment. In addition, some power plants have chosen another type of outdoor inspection robot, a fixed inspection robot installed in step-up or step-down substations, equipped with high-definition cameras that can clearly record anomalies on towers and the status of overhead lines. However, the fixed mode, fixed routes, and fixed inspection items limit the development of inspection robots. Because the inspection routes of inspection robots are fixed and singular, they cannot flexibly conduct inspections within the plant and promptly transmit inspection information back. Furthermore, with the deepening of 5G networks, the Internet of Things and cloud computing have emerged, and the functions of inspection robots have also been enhanced with the popularization of 5G networks. This has broadened the inspection range of inspection robots, enhanced their inspection functions, increased the number of inspection items, and given them some emergency response capabilities. As a result, the safety and stability of the distribution panel has been enhanced, and equipment abnormalities caused by human error have been reduced, which has greatly improved the safety and stability of the power plant.

[0004] Patent CN110286684 discloses a substation inspection robot, including: an RFID tag, a visible light camera, an infrared camera, and a communication module; the RFID tag is set on the shell of the inspection robot, and when an RFID reader at a predetermined location in the substation reads the RFID tag of the inspection robot, it determines that the inspection robot has moved to the predetermined location; the visible light camera and the infrared camera are set on the head of the inspection robot to acquire infrared and visible light images of the corresponding substation equipment, and the infrared and visible light images of the substation equipment are sent to the background monitoring system through the communication module. CN205021585 discloses a power equipment inspection robot, including: a low-position inspection robot and a high-position inspection robot; the low-position inspection robot is used to detect the status of power equipment within a predetermined range on the ground; the high-position inspection robot is used to detect the status of power equipment in the air; a carrying platform for parking the high-position inspection robot extends from the low-position inspection robot. However, the inspection range of the above-mentioned substation inspection robots is limited, and the inspection information acquired is singular, making it impossible to achieve comprehensive inspection of equipment and systems within the plant.

[0005] In view of the above technical problems, this utility model is hereby introduced. Summary of the Invention

[0006] The purpose of this invention is to propose an inspection robot for high and low voltage switchgear, which can perform comprehensive equipment inspection, rapid information transmission and timely emergency response during the operation of high and low voltage switchgear in nuclear power plants.

[0007] To achieve the above objectives, the first aspect of this utility model proposes an inspection robot for high and low voltage switchgear. The inspection robot includes: a main body, sensors, a CPU analysis module, a communication module, at least two operating arms, at least two triangular wheels, and tracks.

[0008] The sensor is mounted on the main body, and the sensor is connected to the CPU analysis module via the motherboard.

[0009] The communication module and CPU analysis module are located inside the main body and are connected through the motherboard. The communication module is connected to the main control room of the plant.

[0010] The operating arms are located on the left and right sides of the main body, respectively;

[0011] Triangular wheels are located at the front and rear of the bottom of the main body, while the track is located at the bottom of the main body.

[0012] Optionally, the inspection robot may also include: an AI module, which is located inside the main body and is connected to the CPU analysis module via a motherboard, and to the sensors via a motherboard.

[0013] Optionally, the AI ​​module stores the location information of the factory's telephone system, and the CPU analysis module connects to the telephone system through the controller.

[0014] Optionally, the sensors include a video sensor, which is located on the top of the main body. The video sensor is connected to the CPU analysis module via the motherboard, and the video sensor is also connected to the AI ​​module via the motherboard.

[0015] Optionally, the sensor includes a sound sensor, which is located at the front of the main body and is connected to the CPU analysis module via the motherboard.

[0016] Optionally, the sensor includes a temperature sensor, which is located on the top of the main body and is connected to the CPU analysis module via the motherboard.

[0017] Optionally, the sensor includes a vibration sensor, which is located at the front of the main body and is connected to the AI ​​module via a motherboard.

[0018] Optionally, the operating arm is equipped with an operating plug.

[0019] Optionally, the inspection robot includes: an energy storage battery and at least two DC motors. The energy storage battery is located at the bottom of the main body and above the moving tracks. The DC motors are located at the front and rear of the energy storage battery, respectively.

[0020] Optionally, the tracks are made of imitation leather suede plastic, and the back of the tracks is serrated to connect to the output shaft of the DC motor.

[0021] Optionally, the DC motor includes a bidirectional reversing module.

[0022] Optionally, the energy storage battery is a rechargeable battery, and the rechargeable battery is in direct charging mode.

[0023] Optionally, the bearings of the triangular wheel are SKF double-sided sealed bearings.

[0024] Optionally, the inspection robot includes a memory located inside the main body.

[0025] Optionally, the communication module can be connected to the main control room via wireless transmission, fiber optic transmission, or USB transmission.

[0026] Optionally, the inspection robot may also include: a guide link and a shock-absorbing spring, with the triangular wheel and DC motor connected via the guide link, and the shock-absorbing spring surrounding the guide link.

[0027] By applying the above-described technical solution of this utility model, at least the following technical effects are achieved:

[0028] 1. The inspection robot has a simple overall structure and is suitable for daily inspection of high and low voltage switchboards. It has flexible and diverse inspection routes and can conduct comprehensive inspections of power plants, ensuring the reliability and safety of high and low voltage switchboard operation within the power plant.

[0029] 2. The inspection robot is equipped with sensors that can comprehensively collect equipment information of the equipment to be inspected. The CPU analysis module analyzes and processes the equipment information to quickly and accurately determine whether the equipment to be inspected is abnormal, thereby enabling timely maintenance of the equipment to be inspected and effectively reducing maintenance time costs.

[0030] 3. The inspection robot is equipped with an operating arm, which can quickly and promptly perform operations such as switching on and off the circuit breaker, emergency power cut-off, fault reset, and switching between hot and cold standby on the equipment to be inspected.

[0031] 4. This inspection robot adopts a front and rear triangular wheel and a middle track structure, which can adapt to different types of road surfaces and greatly increase the effective passage of obstacles.

[0032] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0033] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments and descriptions of this utility model are used to explain this utility model and do not constitute an undue limitation thereof. In the drawings:

[0034] Figure 1 An external structural diagram of an inspection robot for high and low voltage control panels according to one embodiment is shown;

[0035] Figure 2 An internal structural diagram of an inspection robot for high and low voltage control panels according to one embodiment is shown.

[0036] Reference numerals: 1. Main body; 2. Sensor; 21. Video sensor; 22. Sound sensor; 23. Temperature sensor; 24. Vibration sensor; 3. CPU analysis module; 4. Communication module; 5. Operating arm; 6. Triangular wheel; 7. Track; 8. AI module; 9. Energy storage battery; 10. DC motor; 11. Guide link; 12. Shock-absorbing spring. Detailed Implementation

[0037] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] The present invention will be further described in detail below with reference to specific embodiments. These embodiments should not be construed as limiting the scope of protection claimed by the present invention.

[0039] In this description, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0040] The purpose of this invention is to perform equipment inspection, information transmission, and emergency response during the operation of high and low voltage switchboards in nuclear power plants.

[0041] In this embodiment, as Figure 1 and Figure 2 As shown, the inspection robot includes: main body 1, sensor 2, CPU analysis module 3, communication module 4, at least two operating arms 5, at least two triangular wheels 6, and tracked movement 7. Its overall structure is simple and can be used for daily inspection of high and low voltage switchboards. It has flexible and diverse inspection routes and can carry out comprehensive inspections of power plants to ensure the reliability and safety of high and low voltage switchboard operation within the power plant.

[0042] Sensor 2, mounted on the main body 1, can inspect an entire row of control panels or a single control panel in the power plant and collect equipment information of the equipment under inspection. Furthermore, sensor 2 is connected to the CPU analysis module 3 via the motherboard, allowing the collected equipment information to be quickly transmitted to the CPU analysis module for analysis and processing to determine any abnormalities.

[0043] In this embodiment, the communication module 4 and the CPU analysis module 3 are located inside the main body 1. Furthermore, the communication module 4 and the CPU analysis module 3 are connected via a motherboard, and the communication module 4 is connected to the main control room of the plant. Thus, the CPU module can receive control commands from the main control room through the communication module and control the movement of the operating arm, triangular wheel, and track according to the control commands. In addition, the CPU module can transmit abnormal information from the equipment information transmitted by the sensors to the main control room through the communication module. In another embodiment, the CPU module can transmit abnormal information from the equipment information transmitted by the sensors to the plant's maintenance system through the communication module, so as to promptly transmit the location of the fault corresponding to the abnormal information and perform maintenance, effectively reducing maintenance time and costs. In a specific embodiment, the connection method between the communication module 4 and the main control room includes wireless transmission, optical fiber transmission, and USB transmission. Among them, 5G transmission can be selected for wireless transmission.

[0044] It should be noted that while the CPU analysis module performs an initial check on the device information collected by the sensors, the collected information is susceptible to various environmental and human factors (such as vibration, noise, radiation, high temperature, humidity, acid and alkali corrosion, and accidental contact). Therefore, abnormal data may exist within the collected information. A second check is performed to re-examine the abnormal data and eliminate any single incorrect or illogical issues. After both checks, the correct device information is transmitted to the main control room via the communication module for recording and storage.

[0045] Furthermore, the CPU analysis module can inspect the robot's own status and sensor status before and after inspection, and transmit the inspected robot information to the main control room via the communication module for recording and storage. In another embodiment, the inspection robot also includes a memory located inside the main body, which records and stores the aforementioned inspected equipment information and inspected robot information. This facilitates subsequent retrieval and printing of inspection reports.

[0046] In this embodiment, the operating arms 5 are respectively located on the left and right sides of the main body 1, and are used for closing, opening, power disconnection, reset, and isolation of the device under test. In a specific embodiment, the CPU analysis module receives control commands from the main control room through the communication module and combines them with the location information from the device information collected by the sensors to perform emergency response. It controls the operating arms to perform functions such as opening and closing the circuit breaker, emergency power disconnection, fault reset, and hot / cold standby switching of the device under test. It can also simultaneously control the dual operating arms to isolate low-voltage drawers such as ABB / Chuankai / Taikai. Furthermore, the operating arms 5 are equipped with operating plugs. The CPU analysis module can control the insertion of the operating plugs based on the location information from the device information collected by the sensors to start and stop the device under test.

[0047] In this embodiment, triangular wheels 6 are respectively disposed at the front and rear of the bottom of the main body 1, and the track 7 is disposed below the bottom of the main body 1. Thus, the track, in conjunction with the triangular wheels, can adapt to different types of road surfaces, enabling the inspection robot to move flexibly and freely traverse slopes up to 100mm in height. Simultaneously, the triangular wheels located at the front and rear of the bottom of the main body 1 effectively improve obstacle clearance, and these triangular wheels have flexible steering capabilities, allowing for fine-tuning of the travel path or 90° turns during operation based on control commands from the CPU analysis module. In one specific embodiment, the bearings of the triangular wheels 6 are SKF double-sided sealed bearings, effectively preventing sluggish bearing movement.

[0048] In another embodiment, the inspection robot further includes an energy storage battery 9 and at least two DC motors 10. Specifically, the energy storage battery 9 is located at the bottom of the main body 1 and above the track 7, while the DC motors 10 are respectively located at the front and rear of the energy storage battery 9. Thus, the energy storage battery supplies power to the DC motors to drive the movement of the tripod.

[0049] In one specific embodiment, the track 7 is a faux leather suede plastic track, which provides better grip while preventing slippage. Furthermore, the back side of the track is serrated to connect to the output shaft of the DC motor 10, thereby driving the track's movement. Additionally, the DC motor 10 includes a bidirectional reversing module, and the CPU analysis module can control the inspection robot to move forward or backward, enabling flexible movement.

[0050] In addition, the energy storage battery 9 is a rechargeable battery, and it uses a direct charging mode. In another specific embodiment, the rechargeable battery uses a CATL lithium iron phosphate honeycomb battery, which can achieve a longer standby time in a limited space, and it uses a direct charging mode with a fixed charging base and a self-charging function for automatic charging. Meanwhile, the DC motor is a Siemens brushless direct-drive DC motor.

[0051] Furthermore, the inspection robot also includes a guide link 11 and a shock-absorbing spring 12. The triangular wheel 6 and the DC motor 10 are connected through the guide link 11 to enable the DC motor to drive the triangular wheel. In addition, the shock-absorbing spring 12 surrounds the guide link 11 to ensure the stable operation of the inspection robot.

[0052] Furthermore, the inspection robot also includes an AI module 8, which is located inside the main body 1. Specifically, the AI ​​module 8 is connected to the CPU analysis module 3 via a motherboard, and the AI ​​module 8 is also connected to the sensor 2 via a motherboard. In one specific embodiment, the AI ​​module receives device information collected by the sensor to check the inspection route, and then re-plans the inspection route based on the inspection results. The re-planned inspection route is then transmitted to the CPU analysis module to determine the correct action for the inspection robot: to detour, bypass, or wait for a control command. Thus, the inspection robot can react correctly to unexpected situations during the inspection process and successfully complete the inspection work.

[0053] In addition, AI module 8 stores the location information of the plant's telephone system, and CPU analysis module 3 connects to the telephone system via a controller. In one specific embodiment, when a signal is lost or the network is down, if an anomaly occurs during this period, and no signal can be transmitted due to the lack of network, the AI ​​module can plan an emergency route to the nearest telephone system based on the stored location information. This emergency route is then promptly transmitted to the CPU analysis module, which controls the inspection robot to reach the location of the telephone system. The robot then connects to the telephone system via the controller and transmits the anomaly information of the equipment under inspection to the main control room. This ensures the reliability of the transmission of anomaly information, allowing for timely handling of any abnormalities and guaranteeing the stability of the power plant's operation.

[0054] Furthermore, sensor 2 includes a video sensor 21, which is mounted on the top of the main body 1. Specifically, video sensor 21 is connected to CPU analysis module 3 via a motherboard, and video sensor 21 is also connected to AI module 8 via a motherboard. In one specific embodiment, the video sensor is used to collect appearance information, operating status information, and environmental information of the device under test, and transmits this information to the CPU analysis module and AI module for appearance and status inspection of the device under test, as well as providing data support for the AI ​​module to plan inspection routes and emergency action routes. Specifically, the video sensor collects data on the appearance deformation of the device under test and its operating status, such as closing, opening, and faults. The CPU analysis module then determines whether the device under test is deformed and whether its operating status is abnormal, and records and transmits the abnormal information to the main control room. In addition, the video sensor has night vision capabilities to cope with various working conditions.

[0055] In another specific embodiment, if the device under test malfunctions, the main control room transmits control commands to the CPU analysis module through the communication module. The CPU analysis module then controls the inspection robot to reach the designated location according to the control commands. It then controls the video sensor to collect the appearance information, operating status information, and environmental information of the device under test and transmits them to the CPU analysis module. The information is then transmitted to the main control room through the communication module to quickly confirm the condition of the malfunctioning device.

[0056] Furthermore, sensor 2 includes a sound sensor 22, which is located at the front of the main body 1. Specifically, the sound sensor 22 is connected to the CPU analysis module 3 via a motherboard. In one specific embodiment, the sound sensor is used to collect sound information of the device under test and ambient sound information, and transmits the sound information and ambient sound information to the CPU analysis module for abnormal sound detection of the device under test. Specifically, the sound sensor transmits the collected sound information of the device under test and ambient sound information to the CPU analysis module, which then compares the sound information of the device under test and the ambient sound information to determine whether the device under test has abnormal sounds, and records and transmits abnormal information such as the frequency band and length of the abnormal sounds to the main control room.

[0057] Furthermore, sensor 2 includes temperature sensor 23, which is disposed on the top of main body 1. Specifically, temperature sensor 23 is connected to CPU analysis module 3 via motherboard. In one specific embodiment, the temperature sensor is used to collect temperature information and heat-generating locations inside the device under test, and transmits the temperature information and heat-generating locations to the CPU module for temperature checking of the device under test. Specifically, through a far-infrared imaging system, by adjusting the wavelength, the location information and temperature information of the heat-generating parts inside the device under test are collected. Then, the CPU analysis module determines whether the temperature of the device under test exceeds a preset limit, and records and transmits the abnormal information exceeding the preset limit to the main control room.

[0058] Furthermore, sensor 2 includes vibration sensor 24, which is disposed at the front of main body 1. Specifically, vibration sensor 24 is connected to AI module 8 via motherboard. In one specific embodiment, vibration sensor is used to collect vibration information of the device under test. The sensor transmits the vibration information to AI module, which identifies, calculates, and distinguishes between environmental vibration information and the vibration information of the device under test. The vibration information of the device under test is then transmitted to CPU analysis module, which determines whether the vibration information of the device under test is abnormal and records and transmits the time and duration of abnormal vibration to the main control room.

[0059] By applying the technical solutions in the above embodiments of this utility model, the following technical effects are achieved:

[0060] 1. The inspection robot has a simple overall structure and is suitable for daily inspection of high and low voltage switchboards. It has flexible and diverse inspection routes and can conduct comprehensive inspections of power plants, ensuring the reliability and safety of high and low voltage switchboard operation within the power plant.

[0061] 2. The inspection robot is equipped with sensors that can comprehensively collect equipment information of the equipment to be inspected. The CPU analysis module analyzes and processes the equipment information to quickly and accurately determine whether the equipment to be inspected is abnormal, thereby enabling timely maintenance of the equipment to be inspected and effectively reducing maintenance time costs.

[0062] 3. The inspection robot is equipped with an operating arm, which can quickly and promptly perform operations such as switching on and off the circuit breaker, emergency power cut-off, fault reset, and switching between hot and cold standby on the equipment to be inspected.

[0063] 4. This inspection robot adopts a front and rear triangular wheel and a middle track structure, which can adapt to different types of road surfaces and greatly increase the effective passage of obstacles.

[0064] The above are merely several specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the protection scope of this utility model.

[0065] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0066] It should be noted that, in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. An inspection robot for high and low voltage switchgear, characterized in that, The inspection robot includes: a main body (1), sensors (2), a CPU analysis module (3), a communication module (4), at least two operating arms (5), at least two triangular wheels (6), and tracks (7). The sensor (2) is mounted on the main body (1), and the sensor (2) is connected to the CPU analysis module (3) via the motherboard; The communication module (4) and the CPU analysis module (3) are located inside the main body (1). The communication module (4) and the CPU analysis module (3) are connected through the motherboard. The communication module (4) is connected to the main control room of the factory. The operating arms (5) are respectively located on the left and right sides of the main body (1); The triangular wheels (6) are respectively located at the front and rear of the bottom of the main body (1), and the track (7) is located below the bottom of the main body (1).

2. The inspection robot according to claim 1, characterized in that, The inspection robot also includes an AI module (8), which is located inside the main body (1). The AI ​​module (8) is connected to the CPU analysis module (3) via a motherboard and to the sensor (2) via a motherboard.

3. The inspection robot according to claim 2, characterized in that, The AI ​​module (8) stores the location information of the factory's telephone system, and the CPU analysis module (3) is connected to the telephone system through the controller.

4. The inspection robot according to claim 2, characterized in that, The sensor (2) includes a video sensor (21), which is located on the top of the main body (1). The video sensor (21) is connected to the CPU analysis module (3) via the motherboard, and the video sensor (21) is connected to the AI ​​module (8) via the motherboard.

5. The inspection robot according to claim 2, characterized in that, The sensor (2) includes a sound sensor (22), which is located at the front of the main body (1) and is connected to the CPU analysis module (3) via a motherboard.

6. The inspection robot according to claim 2, characterized in that, The sensor (2) includes a temperature sensor (23), which is located on the top of the main body (1) and is connected to the CPU analysis module (3) via the motherboard.

7. The inspection robot according to claim 2, characterized in that, The sensor (2) includes a vibration sensor (24), which is located at the front of the main body (1) and is connected to the AI ​​module (8) via a motherboard.

8. The inspection robot according to claim 1, characterized in that, An operating plug is provided on the operating arm (5).

9. The inspection robot according to claim 1, characterized in that, The inspection robot includes an energy storage battery (9) and at least two DC motors (10). The energy storage battery (9) is located at the bottom of the main body (1) and above the track (7). The DC motors (10) are respectively located at the front and rear of the energy storage battery (9).

10. The inspection robot according to claim 9, characterized in that, The track (7) is a faux leather suede plastic track, and the back side of the track is serrated to connect to the output shaft of the DC motor (10).

11. The inspection robot according to claim 9, characterized in that, The DC motor (10) includes a bidirectional reversing module.

12. The inspection robot according to claim 9, characterized in that, The energy storage battery (9) is a storage battery, and the storage battery is in direct charging mode.

13. The inspection robot according to claim 1, characterized in that, The bearing of the triangular wheel (6) is an SKF double-sided sealed bearing.

14. The inspection robot according to claim 1, characterized in that, The inspection robot includes a memory located inside the main body (1).

15. The inspection robot according to claim 1, characterized in that, The communication module (4) can be connected to the main control room via wireless transmission, optical fiber transmission, or USB transmission.

16. The inspection robot according to claim 9, characterized in that, The inspection robot also includes a guide link (11) and a shock-absorbing spring (12). The triangular wheel (6) and the DC motor (10) are connected through the guide link (11), and the shock-absorbing spring (12) is wrapped around the guide link (11).

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