阅读说明：本技术 一种履带式巡检机器人 (Crawler-type inspection robot ) 是由 邓成呈 钟晓东 文金辉 干东军 于 2021-02-25 设计创作，主要内容包括：本发明公开了一种履带式巡检机器人,包括车体、安装在车体内部的驱动单元、安装在车体顶部的监测模块、安装在车体两侧的运动悬挂系统,车体内部还安装有电池模组、控制模块,电池模组通过控制模块为驱动单元和监测模块提供工作电压。本发明驱动单元、电池模组和控制模块都安装固定在车体内部,集中性强,并且电池仓盖和维修口盖可拆卸,方便电池的更换和内部器件的维修,履带式的运动悬挂系统,结构简单可靠,通过性强,适用范围广,还具有监控、导航、防撞、声光报警和远程通讯功能。(The invention discloses a crawler-type inspection robot, which comprises a vehicle body, a driving unit arranged in the vehicle body, a monitoring module arranged at the top of the vehicle body, and a motion suspension system arranged on two sides of the vehicle body, wherein a battery module and a control module are also arranged in the vehicle body, and the battery module provides working voltage for the driving unit and the monitoring module through the control module. The driving unit, the battery module and the control module are fixedly arranged in the vehicle body, the centralization is strong, the battery bin cover and the maintenance opening cover are detachable, the replacement of a battery and the maintenance of internal devices are convenient, the crawler-type motion suspension system is simple and reliable in structure, strong in trafficability and wide in application range, and has the functions of monitoring, navigation, collision prevention, audible and visual alarm and remote communication.)

1. The utility model provides a robot is patrolled and examined to crawler-type which characterized in that includes:

a vehicle body;

the driving unit is arranged inside the vehicle body and is used for driving the vehicle body to move;

the monitoring module is arranged at the top of the vehicle body and used for acquiring environmental data around the vehicle body;

the motion suspension systems are arranged on two sides of the vehicle body; wherein the content of the first and second substances,

the vehicle body is internally provided with a battery module and a control module, and the battery module provides working voltage for the driving unit and the monitoring module through the control module.

2. The tracked inspection robot according to claim 1, wherein:

the front side and the rear side of the top of the vehicle body are respectively provided with a battery compartment opening and a maintenance opening, a battery limiting frame is erected below the battery compartment opening, and the battery limiting frame is used for installing and placing the battery module.

3. The track type inspection robot according to claim 2, wherein:

a battery compartment cover is arranged on the battery compartment opening;

a maintenance opening cover is arranged on the maintenance opening;

sealing strips are arranged on the combination surfaces of the battery compartment cover, the maintenance opening cover and the vehicle body.

4. The track type inspection robot according to claim 3, wherein:

the battery module comprises at least one power battery.

5. The tracked inspection robot according to claim 1, wherein the kinematic suspension system includes:

a crawler belt;

the suspension fixing frame assembly, the driving wheel assembly, the tensioning wheel assembly, the swing arm assembly and the supporting belt wheel are arranged in the crawler belt; wherein the content of the first and second substances,

the suspension fixing frame assembly is arranged in the middle of the crawler and is arranged on the side face of the vehicle body through a vehicle body connecting shaft;

the driving wheel assembly is arranged behind the suspension fixing frame;

the tensioning wheel assembly is arranged at the front part of the suspension fixing frame;

the swing arm assembly is arranged at the lower part of the suspension fixing frame;

the supporting belt wheel is arranged on the upper part of the hanging fixing frame.

6. The tracked inspection robot according to claim 5, wherein the swing arm assembly is mounted on the suspension mount assembly by means of articulated shafts and shock absorbers.

7. The track type inspection robot according to claim 6, wherein: the swing arm assembly includes:

the front swing arm assembly and the rear swing arm assembly comprise bearing wheels, front swing arms, rear swing arms and shock absorbers;

the front swing arm assembly is arranged at the forefront of the lower part of the suspension fixing frame;

the rear swing arm assemblies are provided with a plurality of groups and are sequentially arranged backwards along the suspension fixing frame assemblies.

8. The crawler-type inspection robot according to claim 7, wherein the front swing arm includes two triangular plates arranged in parallel, the two triangular plates are fixedly connected through a first bolt, one end of each triangular plate is mounted in a first hinge hole of the suspension fixing frame assembly through the hinge shaft, and two pairs of bearing wheels are mounted at the other two ends of each triangular plate through a first bearing wheel shaft.

9. The tracked inspection robot according to claim 8, wherein the two pairs of load wheels are respectively a small load wheel and a large load wheel of unequal diameters.

10. The crawler-type inspection robot according to claim 7, wherein the rear swing arm comprises two strip-shaped plates arranged in parallel, the two strip-shaped plates are fixedly connected through a second bolt, one end of each strip-shaped plate is mounted in a second hinge hole of the suspension fixing frame assembly through a hinge shaft, and the other end of each strip-shaped plate is mounted with a pair of large bearing wheels through a second bearing wheel shaft.

11. The tracked inspection robot according to claim 5, wherein the suspension mount assembly includes:

the tensioning wheel assembly, the swing arm assembly and the supporting belt wheel are convenient to install.

12. The tracked inspection robot according to claim 5, wherein the drive wheel assembly includes:

a drive base;

driving the auxiliary retainer ring;

a cylindrical roller;

a roller shaft;

an oilless bushing;

a drive shaft;

a drive wheel bearing seat; wherein the content of the first and second substances,

the driving auxiliary retainer rings are symmetrically sleeved on two sides of the driving base body and are coaxial with each other, a plurality of roller shafts are arranged at equal angles along the circumference of the driving auxiliary retainer rings, and the roller shafts penetrate through circular holes in the driving base body and the driving auxiliary retainer rings; and the number of the first and second groups,

the cylindrical roller is provided with an inner hole, the oilless bushing is arranged in the inner hole, and the cylindrical roller is sleeved on the roller shaft through the oilless bushing; and the number of the first and second electrodes,

the driving base bodies are mutually fixed through a flange at one end of the driving shaft, the driving shaft is arranged in the driving wheel bearing seat through a bearing, and the driving wheel assembly is fixed on the side face of the vehicle body through the driving wheel bearing seat.

13. The track type inspection robot according to claim 12, wherein guide teeth are provided on an inner side of the track that engage cylindrical rollers provided on the drive wheels.

14. The tracked inspection robot according to claim 1, wherein the drive unit includes:

a servo motor;

a speed reducer;

a drive unit mount; wherein the content of the first and second substances,

the servo motor is connected with the speed reducer, the driving unit mounting seat is connected with the speed reducer, and an output shaft of the speed reducer is in transmission connection with the driving wheel assembly.

15. The track type inspection robot according to claim 1, wherein the monitoring module includes:

an electric pan-tilt;

a laser sensor;

a holder mounting plate;

a laser sensor mounting base; and the number of the first and second groups,

at least one camera mounted on the electric pan-tilt; wherein the content of the first and second substances,

laser sensor mount pad center installation laser sensor, laser sensor's top with the sealed fixed connection of cloud platform mounting panel, electronic cloud platform is installed on the cloud platform mounting panel, electronic cloud platform laser sensor with the camera all with control module communication connection, and pass through control module with battery module electric connection.

16. The crawler-type inspection robot according to any one of claims 1 to 15, wherein a photoelectric distance sensor and an ultrasonic radar sensor are further mounted on the outer side of the front portion of the vehicle body; and the number of the first and second groups,

the rear portion outside of automobile body is installed the copper bar that charges, is touched limit sensor, each electrical interface is installed to the rear portion inclined plane department of automobile body, scram switch, alarm lamp and the antenna that is used for receiving and dispatching signals are still installed to the top rear of automobile body.

17. The track type inspection robot according to claim 16, wherein: photoelectric distance sensor, ultrasonic radar sensor, edge sensor, electric interface, scram switch, alarm lamp and antenna all with install control module communication connection in the automobile body to through control module with battery module electric connection, copper bar and battery module electric connection charge.

18. The tracked inspection robot according to claim 1, wherein: the outside of automobile body still is installed the shell that can dismantle.

Technical Field

The invention relates to the technical field of robots, in particular to a crawler-type inspection robot.

Technical Field

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

With the development of science and technology, a large number of modified products appear on the crawler-type mobile chassis, the crawler-type mobile chassis can be used for development of special robots for inspection exploration, rescue and explosion elimination, special shooting, special transportation and the like, and a new research hotspot is brought to the fields of domestic fire fighting, police, inspection and the like.

In the suspension assembly of the prior crawler-type mobile chassis, a plurality of support arms or torsion bars are usually and directly arranged between the approach wheel and the departure wheel in an inclined manner, the lower ends of the support arms or torsion bars are provided with bearing wheels, and the upper ends are provided with independent elastic elements to realize the damping effect. For example, patent application No. 201910542914.3 discloses a shock absorbing walking mechanism of a fire fighting robot. By adopting the design scheme of the conventional suspension assembly, when the crawler-type chassis passes through an obstacle, the first support arm or the torsion bar at the front end can be greatly deformed by external impact to influence the stability of the chassis, so that the stable operation and the reliable work of equipment installed on the chassis can be directly influenced; when the crawler-type mobile chassis crosses a high barrier and overturns forwards, the vehicle body can impact forwards, so that the load of the front-end suspension impact force is overlarge, a light person damages a suspension system, and an electric element in equipment is damaged seriously, so that equipment failure is caused, and even accidents such as equipment fire and explosion are caused.

Disclosure of Invention

The invention aims to provide a crawler-type inspection robot aiming at the defects of the prior art, which adopts a crawler-type motion suspension system with centralized installation of electric devices in a vehicle body to ensure that the robot can obtain better support in different road surface environments so as to normally work and adapt to changeable environments.

In order to solve the technical problems, the following technical scheme is adopted:

a tracked inspection robot comprising: a vehicle body; the driving unit is arranged inside the vehicle body and is used for driving the vehicle body to move; the monitoring module is arranged at the top of the vehicle body and used for acquiring environmental data around the vehicle body; the motion suspension systems are arranged on two sides of the vehicle body; the vehicle body is internally provided with a battery module and a control module, and the battery module provides working voltage for the driving unit and the monitoring module through the control module.

Preferably, a battery bin opening and a maintenance opening are formed in the front side and the rear side of the top of the vehicle body respectively, a battery limiting frame is arranged below the battery bin opening in a erected mode, and the battery limiting frame is used for installing and placing the battery module.

Preferably, a battery compartment cover is arranged on the battery compartment opening; a maintenance opening cover is arranged on the maintenance opening; sealing strips are arranged on the combination surfaces of the battery compartment cover, the maintenance opening cover and the vehicle body.

Preferably, the battery module comprises at least one power battery.

Preferably, the kinematic suspension system comprises: a crawler belt; the suspension fixing frame assembly, the driving wheel assembly, the tensioning wheel assembly, the swing arm assembly and the supporting belt wheel are arranged in the crawler belt; the suspension fixing frame assembly is arranged in the middle of the crawler belt and is arranged on the side face of the vehicle body through a vehicle body connecting shaft; the driving wheel assembly is arranged behind the suspension fixing frame; the tensioning wheel assembly is arranged at the front part of the suspension fixing frame; the swing arm assembly is arranged at the lower part of the suspension fixing frame; the supporting belt wheel is arranged on the upper part of the hanging fixing frame.

Preferably, the swing arm assembly is mounted on the suspension bracket assembly through a hinge shaft and a shock absorber.

Preferably, the swing arm assembly includes: the front swing arm assembly and the rear swing arm assembly comprise bearing wheels, front swing arms, rear swing arms and shock absorbers; the front swing arm assembly is arranged at the forefront of the lower part of the suspension fixing frame; the rear swing arm assemblies are provided with a plurality of groups and are sequentially arranged backwards along the suspension fixing frame assemblies.

Preferably, the front swing arm comprises two triangular plates arranged in parallel, the two triangular plates are fixedly connected through a first bolt, one end of each triangular plate is mounted in a first hinge hole of the suspension fixing frame assembly through the hinge shaft, and two pairs of bearing wheels are mounted at the other two ends of each triangular plate through a first bearing wheel shaft.

Preferably, the two pairs of bearing wheels are respectively a small bearing wheel and a large bearing wheel with different diameters.

Preferably, the rear swing arm comprises two strip-shaped plates arranged in parallel, the two strip-shaped plates are fixedly connected through a second bolt, one end of each strip-shaped plate is mounted in a second hinge hole of the suspension fixing frame assembly through a hinge shaft, and the other end of each strip-shaped plate is provided with a pair of large bearing wheels through a second bearing wheel shaft.

Preferably, the suspension mount assembly comprises: the tensioning wheel assembly, the swing arm assembly and the supporting belt wheel are convenient to install.

Preferably, the driving wheel assembly includes: a drive base; driving the auxiliary retainer ring; a cylindrical roller; a roller shaft; an oilless bushing; a drive shaft; a drive wheel bearing seat; the driving auxiliary retainer rings are symmetrically sleeved on two sides of the driving base body and are coaxial with each other, a plurality of roller shafts are arranged at equal angles along the circumference of the driving auxiliary retainer rings, and the roller shafts penetrate through circular holes in the driving base body and the driving auxiliary retainer rings; the cylindrical roller is provided with an inner hole, the oilless bushing is arranged in the inner hole, and the cylindrical roller is sleeved on the roller shaft through the oilless bushing; and the driving basal bodies are mutually fixed through a flange at one end of the driving shaft, the driving shaft is arranged in the driving wheel bearing seat through a bearing, and the driving wheel assembly is fixed on the side surface of the vehicle body through the driving wheel bearing seat.

Preferably, the inner side of the track is provided with guide teeth which are meshed with cylindrical rollers arranged on the driving wheel.

Preferably, the driving unit includes: a servo motor; a speed reducer; a drive unit mount; the servo motor is connected with the speed reducer, the driving unit mounting seat is connected with the speed reducer, and an output shaft of the speed reducer is in transmission connection with the driving wheel assembly.

Preferably, the monitoring module comprises: an electric pan-tilt; a laser sensor; a holder mounting plate; a laser sensor mounting base; and at least one camera mounted on the electric pan-tilt; wherein, laser sensor mount pad center installation laser sensor, laser sensor's top with the sealed fixed connection of cloud platform mounting panel, electronic cloud platform is installed on the cloud platform mounting panel, electronic cloud platform laser sensor with the camera all with control module communication connection, and pass through control module with battery module electric connection.

Preferably, a photoelectric distance sensor and an ultrasonic radar sensor are further mounted on the outer side of the front part of the vehicle body; and the rear portion outside of automobile body is installed the copper bar that charges, is touched limit sensor, each electrical interface is installed to the rear portion inclined plane department of automobile body, scram switch, alarm lamp and the antenna that is used for receiving and dispatching signals are still installed at the top rear of automobile body.

Preferably, the photoelectric distance sensor, the ultrasonic radar sensor, the edge contact sensor, the electrical interface, the emergency stop switch, the alarm lamp and the antenna are all in communication connection with a control module in the vehicle body, and are electrically connected with the battery module through the control module, and the charging copper bar is electrically connected with the battery module.

Preferably, a detachable housing is further mounted to the exterior of the vehicle body.

The crawler-type inspection robot has the following advantages that:

1) adopt drive unit, battery module and control module all to install and fix inside the automobile body, concentration nature is strong to battery cang gai and maintenance flap can be dismantled, make things convenient for the change of battery and the maintenance of internal device, all be provided with the sealing strip on battery cang gai and maintenance flap and the automobile body faying face in addition, can prevent effectively that water from invading inside the automobile body.

2) The crawler-type motion suspension system is simple and reliable in structure, strong in trafficability and wide in application range, and the robot can obtain good support in different road environments to work normally.

3) The functions of monitoring, navigation, collision prevention, sound-light alarm, remote communication and the like are realized through the monitoring module, the edge touching sensor, the ultrasonic sensor, the alarm lamp and the antenna.

Drawings

The invention will be further described with reference to the accompanying drawings in which:

FIG. 1 is a schematic structural view of a track type inspection robot according to the present invention;

FIG. 2 is an exploded view of the structure of a track type inspection robot in accordance with the present invention;

FIG. 3 is an exploded view of the kinematic suspension system of the present invention;

FIG. 4 is a schematic view of a track type inspection robot with a housing according to the present invention;

in the figure, 1, a vehicle body, 2, a driving unit, 3, a monitoring module, 4, a motion suspension system, 5, a battery module, 6, a control module, 7, a battery compartment opening, 8, a maintenance opening, 9, a battery limiting frame, 10, a battery compartment cover, 11, a maintenance opening cover, 401, a crawler belt, 402, a suspension fixing frame assembly, 403, a driving wheel assembly, 404, a tensioning wheel assembly, 405, a swing arm assembly, 406, a supporting pulley, 407, a vehicle body connecting shaft, 405-1, a front swing arm assembly, 405-2, a rear swing arm assembly, 408, a hinged shaft, 409, a shock absorber, 410, a front swing arm, 411, a small bearing wheel, 412, a large bearing wheel, 413, a rear swing arm, 403-1, a driving base body, 403-2, a driving auxiliary retaining ring, 403-3, a cylindrical roller, 403-4, a roller shaft, 403-5, an oil-free bushing, 403-6 and a driving shaft, 403-7, a driving wheel bearing seat, 401-1, a guide gear, 2-1, a servo motor, 2-2, a speed reducer, 2-3, a driving unit mounting seat, 2-4, a coupler, 3-1, an electric cradle head, 3-2, a laser sensor, 3-3, a cradle head mounting plate, 3-4, a laser sensor mounting seat, 12, a photoelectric distance sensor, 13, an ultrasonic radar sensor, 14, a charging copper bar, 15, a touch edge sensor, 16, an electrical interface, 17, an emergency stop switch, 18, an alarm lamp, 19, an antenna, 20 and a shell.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The terms "first," "second," "third," and the like are used for descriptive purposes only and not for purposes of indicating or implying relative importance, and do not denote any order or order.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally arranged when products of the application are used, and are used only for convenience in describing the application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application.

In the description of the present application, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.

The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, a robot is patrolled and examined to crawler-type, including automobile body 1, install drive unit 2 inside the automobile body, install at the monitoring module 3 at automobile body top, install the motion suspension 4 in the automobile body both sides, inside battery module 5, the control module 6 of still installing of automobile body, battery module 5 provides operating voltage for drive unit 2 and monitoring module 3 through control module 6.

Further, with reference to fig. 1 and 2, a battery compartment opening 7 and a maintenance opening 88 are respectively arranged at the front side and the rear side of the top of the vehicle body 1, a battery limiting frame 9 is erected below the battery compartment opening 7, and the battery limiting frame 9 is used for placing and fixing a power battery.

Further, a battery bin cover 10 is installed on the battery bin opening 7, a maintenance opening cover 11 is installed on the maintenance opening 8, and sealing strips are arranged on the combination surfaces of the battery bin cover 10, the maintenance opening cover 11 and the vehicle body 1, so that water can be effectively prevented from invading into the vehicle body 1.

Further, the kinematic suspension system 4 includes a track 401, a suspension fixing frame assembly 402 disposed in the track, a driving wheel assembly 403, a tensioning wheel assembly 404, a swing arm assembly 405, and a carrier roller 406, where the suspension fixing frame assembly 402 is disposed in the middle of the track 401 and is mounted on the side of the vehicle body 1 through a vehicle body connecting shaft 407, the driving wheel assembly 403 is mounted behind the suspension fixing frame assembly 402, the tensioning wheel assembly 404 is mounted in the front of the suspension fixing frame 402, the swing arm assembly 405 is mounted at the lower portion of the suspension fixing frame 402, and the carrier roller 406 is mounted at the upper portion of the suspension fixing frame 402.

Specifically, referring to fig. 3, the swing arm assembly 405 includes a front swing arm assembly 405-1 and a rear swing arm assembly 405-2, the front swing arm assembly 405-1 is installed at the foremost position of the lower portion of the suspension fixing frame assembly 402, the swing arm assembly 405 is installed on the suspension fixing frame assembly 402 through a hinge shaft 408 and a shock absorber 409, the front and rear swing arm assemblies include a bearing wheel, a front swing arm 410, a rear swing arm and a shock absorber 409, the front swing arm 410 includes two triangular plates arranged in parallel, the two triangular plates are fixedly connected through a bolt, one end of the two triangular plates is installed at a first hinge hole of the suspension fixing frame assembly through the hinge shaft 408, the other two ends of the two triangular plates are installed with two pairs of bearing wheels with different diameters through a bearing wheel shaft, the two bearing wheels are respectively a small bearing wheel 411 and a large bearing wheel 412, the rear swing arm, one end of the first hinge shaft is mounted at a second hinge hole of the suspension fixing frame assembly 402 through a hinge shaft 408, and the other end of the first hinge shaft is mounted with a pair of large bearing wheels 412 through bearing wheel shafts.

In the present embodiment, the rear swing arm assemblies 405-2 are provided in multiple sets, one behind the other along the suspension mount assembly 402.

Further, the driving wheel assembly 403 comprises a driving base body 403-1, a driving auxiliary retainer ring 403-2, cylindrical rollers 403-3, roller shafts 403-4, oilless bushings 403-5, a driving shaft 403-6 and a driving wheel bearing block 403-7, wherein the driving auxiliary retainer ring 403-2 is symmetrically sleeved on two sides of the driving base body 403-1 and coaxial with each other, a plurality of roller shafts 403-4 are arranged at equal angles along the circumference of the driving base body 403-1, the roller shafts 403-4 penetrate through round holes in the driving base body 403-1 and the driving auxiliary retainer ring 403-2, oilless bushings 403-5 are arranged in inner holes of the cylindrical rollers 403-3, the cylindrical rollers 403-3 are sleeved on the roller shafts 403-4 through the oilless bushings 403-5, the driving base body 403-1 is fixed to each other through a flange at one end of the driving shaft 403-6, the driving shaft 403-6 is mounted in a driving wheel bearing seat 403-7 through a bearing, and the driving wheel assembly 403 is fixed on the side surface of the vehicle body through the driving wheel bearing seat 403-7.

In the present embodiment, the track 401 is provided with guide teeth 401-1 on the inner side thereof, and the track guide teeth 401-1 are engaged with cylindrical rollers 403-3 provided on the driving wheel assembly 403 to transmit the power output from the driving unit 2.

Further, the driving unit 2 comprises a servo motor 2-1, a speed reducer 2-2 and a driving unit mounting seat 2-3, the servo motor 2-1 is connected with the speed reducer 2-2, the driving unit mounting seat 2-3 is connected with the speed reducer 2-2, and an output shaft of the speed reducer 2-2 is connected with a driving shaft 403-6 through a coupling 2-4 to transmit motor power.

Further, the monitoring module 3 comprises an electric pan-tilt 3-1, a laser sensor 3-2, a pan-tilt mounting plate 3-3, a laser sensor mounting seat 3-4, and at least one camera mounted on the electric pan-tilt, the laser sensor 3-2 is mounted at the center of the laser sensor mounting seat 3-4, the top of the laser sensor 3-2 is fixedly connected with the pan-tilt mounting plate 3-3 in a sealing manner, the electric pan-tilt 3-1 is mounted on the pan-tilt mounting plate 3-3, and the electric pan-tilt 3-1, the laser sensor 3-2 and the camera are all in communication connection with a control module 6 in the vehicle body and are electrically connected with the battery module 5 through the control module 6.

Furthermore, a photoelectric distance sensor 12 and an ultrasonic radar sensor 13 are also arranged on the outer side of the front part of the vehicle body 1; copper bar 14, the limit sensor 15 that touches are installed in the rear portion outside of automobile body 1, each electrical interface 16 is installed to the rear portion inclined plane department of automobile body 1, scram switch 17, alarm lamp 18 and the antenna 19 that is used for receiving and dispatching signals are still installed at the top rear of automobile body 1, photoelectric distance sensor 12, ultrasonic radar sensor 13, touch limit sensor 15, electrical interface 16, scram switch 17, alarm lamp 18 and antenna 19 all with install control module 6 communication connection in the automobile body 1 to through control module 6 with 5 electric connection of battery module, copper bar 14 and 5 electric connection of battery module charge.

In the embodiment of the invention, the detachable shell 20 is also arranged outside the vehicle body 1, so that the protection of the vehicle body 1 can be enhanced, the vehicle body 1 is prevented from being directly exposed to the sun and rain, the service life of the whole machine is prolonged, and the appearance of the whole machine is more attractive.

The invention relates to a working principle of a crawler-type inspection robot, which comprises the following steps: the robot is moved by the two groups of driving units 2 and the paired motion suspension system 4, functions of navigation, collision prevention and the like are realized by combining the laser sensor 3-2, the ultrasonic radar sensor 13, the photoelectric distance sensor 12 and the edge contact sensor 15, the electric cradle head 3-1 and the camera realize regulation and monitoring, and the control module 6 is matched with the antenna 19 to realize remote communication.

The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.