Walking mechanism and inspection robot

Abstract

This application relates to a walking mechanism and an inspection robot. The walking mechanism includes: a mounting base; a power component including multiple wheels rotatably connected to the mounting base; and a first protective component including a support arm and a rotating member. The support arm is disposed on at least one side of the mounting base, one end of which is connected to the mounting base, and the other end of which extends towards the bottom of the mounting base. The rotating member is rotatably connected to the other end of the support arm and is spherical. The walking mechanism, through the first protective component, provides auxiliary support, effectively reducing the risk of tipping over, thereby protecting the mounted data acquisition equipment, ensuring continuous and stable data acquisition, and guaranteeing the integrity and accuracy of the inspection data.

Description

Technical Field

[0001] This application relates to the field of inspection device technology, and in particular to walking mechanisms and inspection robots. Background Technology

[0002] In railway signal control rooms, wheeled inspection robots, equipped with various sensors and intelligent detection systems, can navigate the complex equipment layout with ease, achieving automated inspections. Common wheeled inspection robots can be equipped with data acquisition devices such as high-definition cameras, infrared thermal imagers, and gas detectors. They can clearly capture the external condition of signal equipment through high-definition cameras and accurately detect abnormal temperatures through infrared thermal imaging modules. Furthermore, wheeled robots have relatively simple mechanical structures, resulting in lower manufacturing and maintenance costs, making them suitable for large-scale deployment.

[0003] However, in actual use, over time, the floor of the equipment room may gradually deform or subside due to the pressure from the weight of the equipment and personnel walking around, resulting in potholes or cracks. When wheeled robots are inspecting the floor in railway signal rooms, they are prone to tipping over on uneven ground due to a shift in their center of gravity. The data acquisition equipment, such as the cameras they carry for inspection, may be damaged or moved from their normal operating positions, causing data acquisition to be interrupted and unable to obtain complete and accurate inspection data, thus affecting the judgment of the condition of the inspected area. Utility Model Content

[0004] Therefore, it is necessary to provide a walking mechanism and an inspection robot to address the problem that inspection robots may tip over, thus affecting inspection results.

[0005] A walking mechanism, the walking mechanism comprising:

[0006] Mounting base;

[0007] A power unit, comprising a plurality of wheels, the wheels being rotatably connected to the mounting base;

[0008] A first protective component includes a support arm and a rotating member. The support arm is disposed on at least one side of the mounting base, one end of the support arm is connected to the mounting base, and the other end of the support arm extends toward the bottom of the mounting base. The rotating member is rotatably connected to the other end of the support arm and is spherical.

[0009] In one embodiment, the first protective component further includes a first rotating seat and a second rotating seat, which are spaced apart at the other end of the support arm. The first rotating seat is recessed with a first spherical surface, and the second rotating seat is recessed with a second spherical surface. The rotating member is disposed between the first rotating seat and the second rotating seat and contacts the first spherical surface and the second spherical surface.

[0010] In one embodiment, the walking mechanism further includes a second protective component, which includes a fixed shaft and a roller. The fixed shaft is disposed at the bottom of the mounting base, and the roller is sleeved on the fixed shaft and rotatably connected to the fixed shaft.

[0011] In one embodiment, the bottom surface of the mounting base is provided with a mounting groove, the fixing shaft is disposed in the mounting groove, and the two ends of the fixing shaft are respectively connected to the opposite sides of the mounting groove.

[0012] In one embodiment, the outer circumferential surface of the roller is provided with anti-slip grooves;

[0013] And / or, the axial direction of the fixed shaft is parallel to the axial direction of the traveling wheel.

[0014] In one embodiment, the walking mechanism further includes a cleaning assembly, which includes a fixing member and a cleaning brush. The fixing member is connected to the mounting base, and the cleaning brush is connected to the bottom of the fixing member.

[0015] In one embodiment, the cleaning assembly further includes a scraper connected to the side of the cleaning brush away from the mounting base.

[0016] In one embodiment, the cleaning assembly further includes an adjusting member that passes through the fixing member and the cleaning brush and is rotatably connected to the fixing member and the cleaning brush, wherein the cleaning brush is connected to the fixing member through the adjusting member.

[0017] In one embodiment, the cleaning assembly further includes a guide rod, one end of which is fixedly connected to the cleaning brush, and the other end of which passes through the fixing member and is slidably connected to the fixing member.

[0018] An inspection robot, the inspection robot comprising:

[0019] The walking mechanism described in any of the above items;

[0020] The inspection body is mounted on the mounting base of the walking mechanism.

[0021] The aforementioned walking mechanism and inspection robot, including the walking mechanism, allow the inspection robot to tilt if it encounters uneven surfaces within the machine room during its movement. In this case, the support arms on both sides of the mounting base will cause the spherical rotating components to contact the ground before the mounting base, providing lateral support and preventing the inspection robot from tipping over. Furthermore, the spherical rotating components can rotate flexibly in the direction of the inspection robot's movement without hindering its normal movement. Therefore, this walking mechanism, through the first protective component, provides auxiliary support, effectively reducing the risk of tipping over and protecting the onboard data acquisition equipment. This ensures continuous and stable data acquisition, guaranteeing the integrity and accuracy of the inspection data. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the inspection robot and walking mechanism according to an embodiment of this application.

[0023] Figure 2 This is a schematic diagram of the structure of a first protective component according to an embodiment of this application.

[0024] Figure 3 This is a schematic cross-sectional view of the connection between the rotating member and the first rotating seat and the second rotating seat according to an embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the bottom structure of a walking mechanism according to an embodiment of this application.

[0026] Figure 5 This is a schematic diagram of the structure of the second protective component according to an embodiment of this application.

[0027] Figure 6 This is a schematic diagram of the structure of a cleaning component according to an embodiment of this application.

[0028] Icon labels:

[0029] 1. Inspection robot;

[0030] 10. Walking mechanism;

[0031] 20. Inspect the machine body; 21. Detect the scanner;

[0032] 100. Mounting base; 110. Mounting slot;

[0033] 210. Walking wheels;

[0034] 300, First protective component; 310, Support arm; 311, Groove; 320, Rotating component; 330, First rotating seat; 331, First spherical surface; 340, Second rotating seat; 341, Second spherical surface;

[0035] 400. Second protective assembly; 410. Fixed shaft; 420. Roller; 421. Anti-slip groove;

[0036] 500. Sweeping assembly; 510. Fixing component; 520. Sweeping brush; 530. Scraper; 540. Adjusting component; 550. Guide rod. Detailed Implementation

[0037] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0038] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0039] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0043] Please see Figures 1 to 6 As shown, this application embodiment provides a walking mechanism 10 and an inspection robot 1 including the walking mechanism 10. The inspection robot 1 of this application embodiment can be used for inspection in railway signal room, but is not limited thereto. Specifically, the inspection robot 1 of this application embodiment includes a walking mechanism 10, and the inspection robot 1 also includes an inspection body 20, which is mounted on the mounting base 100 of the walking mechanism 10. Of course, the inspection robot 1 may also include data acquisition devices such as a detection scanner 21, wherein the detection scanner 21 is mounted on the inspection body 20 to realize the inspection function. The walking mechanism 10 can realize lateral support for the mounting base 100 and the inspection body 20 on it through the first protective component 300, effectively preventing the inspection robot 1 from tipping over and ensuring that the inspection robot 1 can work normally.

[0044] See Figure 1 and Figure 2As shown, the walking mechanism 10 includes a mounting base 100, a power component, and a first protective assembly 300. The mounting base 100 supports the power component, the first protective assembly 300, and the inspection body 20. The power component includes multiple wheels 210, which are rotatably connected to the mounting base 100. For example, in this embodiment, the power component includes four wheels 210, which are evenly distributed on the left and right sides of the bottom of the mounting base 100. Each wheel 210 is rotatably connected to the bottom of the mounting base 100 via a bearing. Of course, in other optional embodiments, the number of wheels 210 can be six, eight, etc. It should be understood that the power component may also include a motor or other driving component to drive the wheels 210 to rotate, and the power component can be electrically or mechanically connected to the inspection body 20, thereby providing power to the wheels 210 through the inspection body 20. The first protective component 300 includes a support arm 310 and a rotating member 320. The support arm 310 is disposed on at least one side of the mounting base 100. For example, in this embodiment, the first protective component 300 is provided on both sides of the mounting base 100, that is, the support arm 310 and the rotating member 320 are provided on both sides of the mounting base 100. Specifically, one end of the support arm 310 is connected to the mounting base 100, and the other end of the support arm 310 extends towards the bottom of the mounting base 100, so that the other end of the support arm 310 is close to the ground, so as to cooperate with the walking wheel 210 to support the walking mechanism 10. The rotating member 320 is rotatably connected to the other end of the support arm 310. When the rotating member 320 contacts the ground, it can rotate due to the friction between it and the ground as the walking mechanism 10 moves. Furthermore, the rotating member 320 is spherical, ensuring that it can rotate flexibly in any direction.

[0045] With the above structural design, when the walking mechanism 10 and the inspection body 20 form the inspection robot 1, the inspection robot 1 is placed in the inspection area. Upon starting the inspection robot 1, the scanner 21 begins to work, collecting data from the surrounding environment. At this time, the walking wheels 210 on both sides of the mounting base 100 are driven to roll, thereby moving the inspection robot 1. During movement, if the inspection robot 1 travels on uneven surfaces within the machine room, it may tilt. In this case, the support arms 310 on both sides of the mounting base 100 will cause the spherical rotating parts 320 to contact the ground before the mounting base 100, providing lateral support to the mounting base 100 and preventing the inspection robot 1 from tipping over. Furthermore, the spherical rotating parts 320 can rotate flexibly with the direction of movement of the inspection robot 1, without hindering the robot's normal movement. Therefore, the walking mechanism 10 in this embodiment of the application plays an auxiliary support role through the first protective component 300, which can effectively reduce the risk of the walking mechanism 10 tipping over, thereby protecting the data acquisition equipment mounted on it, ensuring that the data acquisition work can be carried out continuously and stably, and guaranteeing the integrity and accuracy of the inspection data.

[0046] See Figure 2 and Figure 3 As shown, in some embodiments, the first protective component 300 further includes a first rotating seat 330 and a second rotating seat 340, which are spaced apart at the other end of the support arm 310. Specifically, the other end of the support arm 310 is provided with a groove 311, and the first rotating seat 330 and the second rotating seat 340 are respectively connected to opposite sides of the groove 311. The first rotating seat 330 is recessed and provided with a first spherical surface 331, and the second rotating seat 340 is recessed and provided with a second spherical surface 341. The first spherical surface 331 and the second spherical surface 341 are adapted to the shape of the spherical rotating member 320. For example, both the first rotating seat 330 and the second rotating seat 340 can be provided with a conical structure, and the first rotating seat 330 is provided with the first spherical surface 331 on the side facing the second rotating seat 340, and the second rotating seat 340 is provided with the second spherical surface 341 on the side facing the first rotating seat 330. The rotating component 320 is disposed between the first rotating seat 330 and the second rotating seat 340, and contacts the first spherical surface 331 and the second spherical surface 341, ensuring that the rotating component 320 can fit tightly between the first spherical surface 331 and the second spherical surface 341. Furthermore, the rotating component 320 has a sliding fit with the first spherical surface 331 and the second spherical surface 341, allowing the rotating component 320 to rotate freely relative to the first rotating seat 330 and the second rotating seat 340. Thus, by limiting the rotating component 320 through the first spherical surface 331 and the second spherical surface 341 of the first rotating seat 330 and the second rotating seat 340, it is possible to effectively prevent the rotating component 320 from falling off during the support process, ensuring stable support, while also ensuring that the rotating component 320 can rotate flexibly without affecting the movement direction of the inspection robot 1, providing more reliable protection for the inspection robot 1 to travel on complex terrain.

[0047] Further, see Figure 4 and Figure 5As shown, in some embodiments, the walking mechanism 10 further includes a second protective component 400, which includes a fixed shaft 410 and a roller 420. The fixed shaft 410 is disposed at the bottom of the mounting base 100, and the roller 420 is sleeved on the outside of the fixed shaft 410 and rotatably connected to the fixed shaft 410. For example, the second protective component 400 may include multiple cooperating fixed shafts 410 and rollers 420, which are disposed on the side of the mounting base 100 near the ground and between the two walking wheels 210. The fixed shaft 410 is fixedly connected to the mounting base 100, and the roller 420 has a cylindrical structure. The roller 420 is sleeved on the outside of the fixed shaft 410, and the inner wall of the roller 420 can slide relative to the outer wall of the fixed shaft 410, allowing the roller 420 to rotate around the fixed shaft 410. When the inspection robot 1 travels to a depression in the ground, and the wheels 210 sink into the depression causing the mounting base 100 to sink, the roller 420 will contact the ground before the mounting base 100, thus avoiding wear caused by contact between the mounting base 100 and the ground. Simultaneously, since the roller 420 can rotate relative to the fixed shaft 410, it ensures smooth movement of the inspection robot 1, preventing increased walking resistance or inspection interruption due to friction with the mounting base 100, thereby expanding the inspection range of the inspection robot 1 and making it suitable for various road surfaces.

[0048] Optionally, the axis of the fixed shaft 410 is parallel to the axis of the traveling wheel 210. Specifically, see [link to relevant documentation]. Figure 4 The axis of the traveling wheel 210 is perpendicular to the direction of movement of the traveling mechanism 10, and the axis of the fixed shaft 410 is also perpendicular to the direction of movement of the traveling mechanism 10, ensuring that the rotation direction of the roller 420 is consistent with the rotation direction of the traveling wheel 210. When the inspection robot 1 moves in a straight line, the roller 420 rotates around the fixed shaft 410, and its rolling direction is consistent with the rolling direction of the traveling wheel 210, so that no resistance is generated in other directions. This avoids the deviation in the direction of movement caused by the roller 420, and further improves the smoothness of the inspection robot 1's movement on complex terrain.

[0049] See Figure 4 As shown, in some embodiments, the bottom surface of the mounting base 100 is provided with a mounting groove 110, and a fixed shaft 410 is disposed within the mounting groove 110. The two ends of the fixed shaft 410 are respectively connected to opposite sides of the mounting groove 110. For example, two mounting grooves 110 are provided on the bottom surface of the mounting base 100. The mounting groove 110 is a long rectangular groove, and several fixed shafts 410 are disposed within the mounting groove 110. The two ends of the fixed shafts 410 are fixedly connected to the inner wall of the mounting groove 110, and a roller 420 is fitted around the fixed shaft 410. By placing the fixed shaft 410 within the mounting groove 110, the problem of dust, cable debris, and other debris in the computer room becoming entangled in the fixed shaft 410, thus preventing the roller 420 from rotating around the fixed shaft 410, is avoided, reducing the risk of damage.

[0050] See Figure 5 As shown, in some embodiments, the outer circumferential surface of the roller 420 is provided with anti-slip grooves 421. Specifically, the roller 420 is cylindrical, and its outer circumferential surface is provided with multiple elongated anti-slip grooves 421 extending along the axial direction. These anti-slip grooves 421 can increase the friction between the roller 420 and the ground, which helps to improve the stability of the inspection robot 1 on the ground when it moves, reduces the slippage of the roller 420, and makes the inspection robot 1 walk more smoothly.

[0051] Furthermore, in some embodiments, the walking mechanism 10 further includes a cleaning assembly 500, which includes a fixing member 510 and a cleaning brush 520. The fixing member 510 is connected to the mounting base 100, and the cleaning brush 520 is connected to the bottom of the fixing member 510. See also... Figure 1 and Figure 6 As shown, the cleaning component 500 can be installed on the front side of the walking mechanism 10 to clean debris in front of the walking mechanism 10. Specifically, the fixing member 510 of the cleaning component 500 is plate-shaped and is fixedly connected to the front side of the mounting base 100. The cleaning brush 520 of the cleaning component 500 is generally angular in shape, and a large number of bristles are distributed on the bottom of the cleaning brush 520. When the inspection robot 1 walks, the cleaning brush 520 can clean up debris on the ground, thereby preventing debris accumulation from affecting the walking and inspection of the inspection robot 1, ensuring the cleanliness of the inspection environment, and improving the accuracy of the inspection.

[0052] See Figure 1 and Figure 6 As shown, in some embodiments, the cleaning assembly 500 further includes a scraper 530, which is connected to the side of the cleaning brush 520 away from the mounting base 100. Specifically, the scraper 530 is pointed in shape and is connected to the cleaning brush 520 via an extension plate, and is positioned at the front of the cleaning brush 520, i.e., at the very front of the inspection robot 1 in the direction of travel. Thus, when the inspection robot 1 moves, the scraper 530 will first contact the ground, thereby scraping up and pushing stubborn debris adhering to the ground to both sides, preventing debris residue. Then, the cleaning brush 520 performs a secondary cleaning of the ground after the scraper 530 has cleaned it, thoroughly sweeping away the fine debris scraped up by the scraper 530, improving the floor cleaning effect.

[0053] See Figure 1 and Figure 6As shown, in some embodiments, the cleaning assembly 500 further includes an adjusting member 540, which passes through the fixing member 510 and the cleaning brush 520, and is rotatably connected to both. The cleaning brush 520 is connected to the fixing member 510 via the adjusting member 540. For example, the adjusting member 540 may be a threaded rod, with a threaded hole with internal threads in the middle of the fixing member 510, through which the threaded rod passes and is threadedly connected to the fixing member 510. Furthermore, a threaded hole is formed at the top of the cleaning brush 520, through which the threaded rod passes and is threadedly connected to the cleaning brush 520. When the threaded rod or the cleaning brush 520 is rotated, the distance between the cleaning brush 520 and the fixing member 510 changes, thereby adjusting the installation height of the cleaning brush 520. Therefore, by flexibly adjusting the installation height of the sweeping brush 520, the sweeping brush 520 can be adapted to ground with different degrees of depression, ensuring that the sweeping brush 520 makes full contact with the ground and improving the cleaning effect.

[0054] When adjusting the installation height of the sweeping brush 520 via the adjusting member 540, the sweeping brush 520 may shift or tilt due to the rotational connection gap between the adjusting member 540 and the sweeping brush 520, or ground vibration. This could result in the sweeping brush 520 failing to cover the preset cleaning range, or even interfering with the traveling wheel 210 and the second protective component 400. To avoid these problems, the sweeping component 500 can be further optimized in its design.

[0055] In some embodiments, the sweeping assembly 500 further includes a guide rod 550, one end of which is fixedly connected to the sweeping brush 520, and the other end of which passes through the fixing member 510 and is slidably connected to the fixing member 510. For example, see Figure 1 and Figure 6 As shown, the fixing member 510 has two smooth through holes, and a guide rod 550 slides through each through hole. The two guide rods 550 are symmetrically distributed on both sides of the adjusting member 540. The guide rods 550 extend vertically, i.e., in the direction of gravity, and the bottom ends of both guide rods 550 are fixedly connected to the cleaning brush 520. Thus, when the installation height of the cleaning brush 520 is adjusted by the adjusting member 540, the guide rods 550 can restrict the movement direction of the cleaning brush 520, so that the cleaning brush 520 can only move up and down vertically, and cannot deviate laterally or tilt, ensuring the consistency of the cleaning range.

[0056] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A walking mechanism, characterized in that, The walking mechanism includes: Mounting base; A power unit, comprising a plurality of wheels, the wheels being rotatably connected to the mounting base; A first protective component includes a support arm and a rotating member. The support arm is disposed on at least one side of the mounting base, one end of the support arm is connected to the mounting base, and the other end of the support arm extends toward the bottom of the mounting base. The rotating member is rotatably connected to the other end of the support arm and is spherical.

2. The walking mechanism according to claim 1, characterized in that, The first protective component further includes a first rotating seat and a second rotating seat, which are spaced apart at the other end of the support arm. The first rotating seat has a first spherical surface recessed therein, and the second rotating seat has a second spherical surface recessed therein. The rotating member is disposed between the first rotating seat and the second rotating seat and contacts the first spherical surface and the second spherical surface.

3. The walking mechanism according to claim 1, characterized in that, The walking mechanism also includes a second protective component, which includes a fixed shaft and a roller. The fixed shaft is disposed at the bottom of the mounting base, and the roller is sleeved on the fixed shaft and rotatably connected to the fixed shaft.

4. The walking mechanism according to claim 3, characterized in that, The bottom surface of the mounting base is provided with a mounting groove, and the fixing shaft is disposed in the mounting groove. The two ends of the fixing shaft are respectively connected to the opposite sides of the mounting groove.

5. The walking mechanism according to claim 3, characterized in that, The outer circumferential surface of the roller is provided with anti-slip grooves; And / or, the axial direction of the fixed shaft is parallel to the axial direction of the traveling wheel.

6. The walking mechanism according to any one of claims 1-5, characterized in that, The walking mechanism also includes a cleaning component, which includes a fixing member and a cleaning brush. The fixing member is connected to the mounting base, and the cleaning brush is connected to the bottom of the fixing member.

7. The walking mechanism according to claim 6, characterized in that, The cleaning assembly also includes a scraper connected to the side of the cleaning brush away from the mounting base.

8. The walking mechanism according to claim 6, characterized in that, The cleaning assembly also includes an adjusting member, which passes through the fixing member and the cleaning brush and is rotatably connected to the fixing member and the cleaning brush. The cleaning brush is connected to the fixing member through the adjusting member.

9. The walking mechanism according to claim 8, characterized in that, The cleaning assembly also includes a guide rod, one end of which is fixedly connected to the cleaning brush, and the other end of which passes through the fixing member and is slidably connected to the fixing member.

10. An inspection robot, characterized in that, The inspection robot includes: The walking mechanism according to any one of claims 1-9; The inspection body is mounted on the mounting base of the walking mechanism.

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