CN114084247B

CN114084247B - A self-balancing inspection robot

Info

Publication number: CN114084247B
Application number: CN202111549437.7A
Authority: CN
Inventors: 姜晓勇; 沈彪; 耿晓棠; 王利刚; 崔华锋
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2025-01-24
Anticipated expiration: 2041-12-17
Also published as: CN114084247A

Abstract

The present invention provides a self-balancing inspection robot, comprising a base plate, on which is installed a driving steering mechanism for enabling the robot to walk and turn, and also comprising a momentum balancing mechanism, wherein the momentum balancing mechanism comprises a first power mechanism, a first momentum wheel, a second power mechanism and a second momentum wheel installed on the base plate, wherein the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism drives the second momentum wheel to rotate; when the robot tilts to the left, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism brakes, and when the robot tilts to the right, the second power mechanism drives the second momentum wheel to rotate, and the first power mechanism brakes.

Description

Self-balancing inspection robot

Technical Field

The invention relates to a self-balancing inspection robot.

Background

With the development of artificial intelligence technology, intelligent inspection robots have become one of three inspection modes in the current society. The mobile robot mechanism is an important component in inspection robots. When the inspection robot encounters an obstacle, the inspection robot may incline or bounce, and when the inspection robot inclines, the existing inspection robot cannot sensitively adjust the inspection robot to return to the normal position, and the inspection robot falls down.

Disclosure of Invention

In order to solve the technical problems, the invention provides a self-balancing inspection robot.

The invention adopts the following technical proposal

The self-balancing inspection robot comprises a bottom plate, wherein a driving steering mechanism for enabling the robot to walk and steer is arranged on the bottom plate, the self-balancing inspection robot further comprises a momentum balance mechanism, the momentum balance mechanism comprises a first power mechanism, a first momentum wheel, a second power mechanism and a second momentum wheel, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism drives the second momentum wheel to rotate;

When the robot tilts leftwards, the first power mechanism drives the first momentum wheel to rotate, the second power mechanism brakes, and when the robot tilts rightwards, the second power mechanism drives the second momentum wheel to rotate, and the first power mechanism brakes.

Optionally, the first power unit includes first motor, first bevel gear, second bevel gear, the output shaft of first motor with first bevel gear fixed mounting, first bevel gear with the second bevel gear meshes mutually, the second bevel gear with first momentum wheel coaxial transmission is connected, the second power unit includes second motor, third bevel gear, fourth bevel gear, the output shaft of second motor with third bevel gear fixed mounting, third bevel gear with fourth bevel gear meshes mutually, fourth bevel gear with second momentum wheel coaxial transmission is connected.

Optionally, the driving steering mechanism comprises a driving mechanism and a steering mechanism, the steering mechanism is rotatably installed on the bottom plate, the driving mechanism is installed under the bottom plate, and the steering mechanism drives the driving mechanism to steer.

Optionally, the steering mechanism includes steering motor, shift fork and turns to the cover, turn to the motor install in the bottom plate, turn to the cover with turn to the output shaft fixed connection of motor, shift fork one end with turn to the cover axial relative slip circumference relatively fixed connection, turn to the cover and be equipped with the spout, shift fork one end is equipped with the arch, shift fork one end stretches into turns to the cover, protruding and spout gliding connection.

Optionally, be equipped with damper between the bottom plate with the shift fork, damper includes damper, first spring bowl holds in the palm and second spring bowl holds in the palm, first spring bowl holds in the palm and is equipped with first hole, second spring bowl holds in the palm and is equipped with the second hole, the one end of shift fork passes first hole with the second hole, damper establishes first spring bowl holds in the palm with between the second spring bowl holds in the palm.

Optionally, the steering mechanism includes steering motor and shift fork, steering motor install in the bottom plate, the shift fork includes transverse connection spare, vertical connecting piece, transverse connection spare with steering motor's output shaft fixed connection, vertical connecting piece one end with one side of transverse connection spare articulates, the vertical connecting piece other end with be equipped with the spring structure between the opposite side of transverse connection spare.

Optionally, the spring structure includes motor, guide post, uide bushing and support connecting piece, support connecting piece with the vertical connecting piece other end articulates, motor install in support connecting piece, the guide post with support connecting piece rotatable coupling, motor with the guide post transmission is connected in order to drive the guide post and is rotated, the uide bushing cover is located outside the guide post, the uide bushing with the opposite side of transverse connecting piece articulates, the uide bushing is equipped with spiral spout, spiral spout winds around uide bushing a week, be equipped with axial spout between the spiral spout both ends, the uide bushing be equipped with spiral spout, axial spout complex protruding slider, the uide bushing with be equipped with the elastic component between the uide bushing.

Optionally, the driving mechanism comprises a driving motor and a driving wheel, the driving motor is installed on the shifting fork, the driving wheel is rotationally connected with the shifting fork, and the driving wheel is fixedly connected with an output shaft of the driving motor.

Optionally, the bottom plate is equipped with flexible elevating system, bottom plate top fixed mounting has the support, the support is equipped with the electric motor that is used for driving flexible elevating system and goes up and down, and the detector is installed at flexible elevating system's top.

Optionally, flexible elevating system includes variable pitch lead screw and variable pitch nut, variable pitch nut cover is established outside the variable pitch lead screw, variable pitch lead screw with the connection of the relative fixed axial relative slip of bottom plate circumference, variable pitch lead screw includes a plurality of connecting seats, screw, a plurality of the connecting seat is upwards arranged in proper order from the bottom, upper and lower adjacent two be equipped with a plurality of suites of cup jointing each other between the connecting seat, innermost external member and its top connecting seat fixed connection, outermost external member and its below connecting seat fixed connection, the screw encircles outside the connecting seat, and with the connecting seat articulates, be equipped with in the variable pitch nut with screw complex helicla flute, the helicla flute in the variable pitch nut divide into upper segment helicla flute and hypomere helicla flute, the pitch of upper segment helicla flute is big than the pitch of hypomere helicla flute, variable pitch nut and electric motor gear drive connect.

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

The self-balancing inspection robot provided by the invention is provided with the momentum balance mechanism, and when the robot tilts, the momentum balance mechanism can keep the robot balanced.

Drawings

FIG. 1 is a schematic view of a robot with parallel drive wheels according to the present invention;

FIG. 2 is a schematic illustration of a robot with drive wheels collinear in accordance with the present invention;

FIG. 3 is a schematic view of a steering mechanism of the present invention;

FIG. 4 is a schematic view of a drive mechanism according to the present invention;

FIG. 5 is a schematic diagram of a momentum balance mechanism according to the present invention;

FIG. 6 is a schematic view of another embodiment of the inspection robot of the present invention;

FIG. 7 is a schematic view of a steering mechanism of the present invention;

FIG. 8 is an exploded view of the bouncing structure of the present invention;

FIG. 9 is a perspective view of a guide post of the present invention;

FIG. 10 is an exploded view of the telescopic lift mechanism of the present invention;

FIG. 11 is a cross-sectional view of a variable pitch lead screw of the present invention;

fig. 12 is a cross-sectional view of a variable pitch nut of the present invention.

Reference numerals in the schematic drawings illustrate:

1. A bottom plate; 11, through holes; 12, grooves; steering mechanism, 21, steering motor, 22, steering motor mounting rack, 23, steering sleeve, 231, chute, 241, fork, 2411, boss, 2412, mounting hole, 242, damper spring, 243, first spring bowl, 2431, first inner bore, 244, second spring bowl, 2441, second inner bore, 3, driving mechanism, 31, driving motor, 32, driving motor mounting plate, 33, transmission shaft, 34, driving wheel, 35, coupling, 4, momentum balance mechanism, 41, first motor mounting plate, 42, first motor, 43, first bevel gear, 44, second bevel gear, 45, first support seat, 46, first momentum wheel, 47, first transmission shaft, 48, second support seat, 49, second momentum wheel, 410, second transmission shaft, 411, third support seat, 412, fourth bevel gear, 413, second motor mounting plate, 414, second motor, 415, third bevel gear, 5, bracket, 6, detector, 71, transverse connector, 72, vertical connector, 73, 74, second bevel gear, 45, first support seat, 46, first momentum wheel, 47, first momentum wheel, 47, first drive shaft, 48, second support seat, 49, second momentum wheel, 410, second drive shaft, 411, third support seat, 412, fourth bevel gear, 413, second motor connector, 414, second motor, 415, third bevel gear, 5, bracket, 6, detector, 71, transverse connector, 72, vertical connector, 73, flexible motor connector, 74, flexible sleeve.

Detailed Description

For a further understanding of the present invention, the present invention will be described in detail with reference to FIGS. 1-12 and examples.

With reference to fig. 1-12, a self-balancing inspection robot of the present embodiment includes a base plate 1, a steering driving mechanism and a momentum balance mechanism 4, wherein the steering driving mechanism includes a steering mechanism 2 and a driving mechanism 3. The steering mechanism 2 comprises a steering motor 21, a shifting fork 241 and a steering sleeve 23, wherein the steering motor 21 is fixedly arranged on the bottom plate 1 through a steering motor mounting frame 22, the steering sleeve 23 is fixedly connected with an output shaft of the steering motor 21, the steering sleeve 23 is provided with a sliding groove 231, one end of the shifting fork 241 is provided with a boss 2411, one end of the shifting fork 241 extends into the steering sleeve 23, and the boss 2411 is in sliding connection with the sliding groove 231. The protrusion 2411 and the chute 231 cooperate to enable axial relative sliding and circumferential relative fixing between the steering sleeve 23 and the fork 241.

The driving mechanism 3 comprises a driving motor 31 and a driving wheel 34, wherein the driving motor 31 is arranged on one side of a shifting fork 241 through a driving motor mounting plate 32, the driving wheel 34 is provided with a transmission shaft 33, the shifting fork 241 is provided with a mounting hole 2412, one end of the transmission shaft 33 is rotatably connected with the mounting hole 2412 in the mounting hole 2412, the other end of the transmission shaft 33 is fixedly connected with the driving wheel 34, and the other end of the transmission shaft 33 is fixedly connected with an output shaft of the driving motor 31 through a coupler 35.

A damping mechanism is arranged between the bottom plate 1 and the shifting fork 241 and comprises a damping spring 242, a first spring bowl support 243 and a second spring bowl support 244, wherein the first spring bowl support 243 is provided with a first inner hole 2431, and the second spring bowl support 244 is provided with a second inner hole 2441. One end of the shifting fork 241 passes through the first inner hole 2431, and one end of the shifting fork 241 is rotatably connected with the first inner hole 2431. The damper spring 242 is sleeved outside one end of the shifting fork 241, and one end of the damper spring 242 is slidably connected to the first spring bowl 243. One end of the shifting fork 241 passes through the second inner hole 2441, and the second spring bowl 244 is connected with the other end of the damping spring 242 in a sliding manner. The bottom plate 1 is provided with a through hole 11, one end of the shifting fork 241 penetrates through the through hole 11, the shifting fork 241 is connected with the bottom plate 1 in a rotating mode, and the second spring bowl support 244 is connected with the bottom plate 1 in a sliding mode. The damper springs 242 are disposed between the first spring bowl 243 and the second spring bowl 244.

A groove 12 is arranged in the middle of the bottom plate 1, a bracket 5 is arranged on the bottom plate 1, the groove 12 is positioned below the bracket 5, and the momentum balance mechanism 4 is arranged in the groove 12. The momentum balance mechanism 4 comprises a first power mechanism, a first momentum wheel 46, a second power mechanism and a second momentum wheel 49, wherein the first power mechanism is arranged on the base plate 1, the first power mechanism drives the first momentum wheel 46 to rotate, and the second power mechanism drives the second momentum wheel 49 to rotate. The first power mechanism comprises a first motor 42, a first bevel gear 43 and a second bevel gear 44, wherein the first motor 42 is arranged on the bracket 5 through a first motor mounting plate 41, and an output shaft of the first motor 42 is fixedly arranged with the first bevel gear 43. The groove 12 of the bottom plate 1 is internally provided with a first supporting seat 45, a second supporting seat 48 and a third supporting seat 411, the first supporting seat 45 is rotationally connected with a first transmission shaft 47, one end of the first transmission shaft 47 is rotationally connected with the first supporting seat 45, and the other end of the first transmission shaft 47 is rotationally connected with the second supporting seat 48. The second bevel gear 44 is fixedly mounted at one end of the first transmission shaft 47, the first momentum wheel 46 is fixedly mounted in the middle of the first transmission shaft 47, and the first bevel gear 43 and the second bevel gear 44 are meshed. The second power mechanism comprises a second motor 414, a third bevel gear 415 and a fourth bevel gear 412, wherein an output shaft of the second motor 414 is fixedly arranged with the third bevel gear 415, the second motor 414 is arranged on the bracket 5 through a second motor mounting plate 413, a second supporting seat 48 is rotationally connected with a second transmission shaft 410, one end of the second transmission shaft 410 is rotationally connected with the third supporting seat 411, the other end of the second transmission shaft 410 is rotationally connected with the second supporting seat 48, the fourth bevel gear 412 is fixedly arranged at one end of the second transmission shaft 410, a second momentum wheel 49 is fixedly arranged in the middle of the second transmission shaft 410, and the third bevel gear 415 is meshed with the fourth bevel gear 412.

A detector 6 is fixedly arranged above the bracket 5.

In this embodiment, two steering mechanisms 2 and two driving mechanisms 3 are provided. The two drive mechanisms 3 are controlled by the two steering mechanisms 2, respectively. When the vehicle travels on a wide road, the steering motor 21 drives the steering sleeve 23 to rotate, and the sliding groove 231 on the steering sleeve 23 drives the boss 2411 on the shifting fork 241 to rotate the shifting fork 241 so that the two driving wheels 34 are parallel. Then, the driving mechanism 3 controls the movement speed and direction of the robot, the driving motor 31 drives the coupler 35 to rotate, the coupler 35 drives the transmission shaft 33 to rotate, and the transmission shaft 33 drives the driving wheel 34 to rotate, so that the robot moves forwards. Steering is controlled differentially by two drive motors 31. When passing through a narrow road, the steering mechanism 2 controls the driving mechanism 3 to make the two driving wheels 34 collinear, and one steering mechanism 2 controls the movement direction of the robot. Then, the movement speed of the robot is controlled by controlling the driving mechanism 3. The co-linear nature of the two drive wheels 34 reduces the width of travel of the robot and enhances its ability to accommodate roadways. On uneven roads, the shifting fork 241 drives the first spring bowl support 243 to move upwards, the damping spring 242 is compressed, and meanwhile, the boss 2411 on the shifting fork 241 slides in the sliding groove 231 of the steering sleeve 23, so that the purpose of damping is achieved.

The balance of the robot in the static state and the motion state is controlled by the momentum balance mechanism 4. When the robot tilts leftwards, the first motor 42 drives the first bevel gear 43 to rotate, the first bevel gear 43 drives the second bevel gear 44 to rotate, the second bevel gear 44 drives the first transmission shaft 47 to rotate, the first transmission shaft 47 drives the first momentum wheel 46 to rotate rightwards, the second motor 414 drives the third bevel gear 415 to brake, the third bevel gear 415 drives the fourth bevel gear 412 to brake, the fourth bevel gear 412 drives the second transmission shaft 410 to brake, and the second transmission shaft 410 drives the second momentum wheel 49 to brake, so that the robot is restored to a balanced state. Similarly, when the robot leans to the right, the second motor 414 drives the third bevel gear 415 to rotate, the third bevel gear 415 drives the fourth bevel gear 412 to rotate, the fourth bevel gear 412 drives the second transmission shaft 410 to rotate, the second transmission shaft 410 drives the second momentum wheel 49 to rotate to the left, the first motor 42 drives the first bevel gear 43 to brake, the first bevel gear 43 drives the second bevel gear 44 to brake, the second bevel gear 44 drives the first transmission shaft 47 to brake, and the first transmission shaft 47 drives the first momentum wheel 46 to brake, so that the robot is restored to the balanced state, and the phenomenon that the balance adjustment is not timely and even the motor is damaged due to frequent reversing of the motor is avoided.

In another embodiment, referring to fig. 6-9, the fork is provided with a bouncing structure. The bouncing structure enables the inspection robot to skip when encountering pits. The shift fork includes transverse connection piece 71, vertical connection piece 72, and transverse connection piece 71 middle part and steering motor's output shaft fixed connection, and vertical connection piece 72 one end is articulated with one side of transverse connection piece 71, is equipped with the spring structure between the opposite side of vertical connection piece 72 other end and transverse connection piece 71. The bouncing structure comprises a power motor 73, a guide post 74, a guide sleeve 75 and a support connecting piece 76, wherein the support connecting piece 76 is hinged with the other end of the vertical connecting piece 72. The power motor 73 is mounted on the support connecting piece 76, the guide post 74 is rotatably connected with the support connecting piece 76, and the power motor 73 is in belt transmission connection with the guide post 74 to drive the guide post 74 to rotate. The guide sleeve 75 is sleeved outside the guide post 74, a transition connecting piece 78 is fixed at the upper end of the guide sleeve 75, and the transition connecting piece 78 is hinged with the other side of the transverse connecting piece 71. An elastic piece 77 is arranged between the transition connecting piece 78 and the supporting connecting piece 76, and the elastic piece 77 is a spring. The guide sleeve 75 is provided with a spiral chute 751, the spiral chute 751 winds the guide sleeve 75 for a circle, an axial chute 752 is arranged between two ends of the spiral chute 751, and the guide post 74 is provided with a convex slide block 741 matched with the spiral chute 751 and the axial chute 752. When the inspection robot encounters a pit, the power motor 73 drives the guide post 74 to rotate. The guide post 74 rotates to drive the protruding slide block 741 to slide upwards in the spiral chute 751, the guide post 74 moves upwards to compress the elastic piece 77, and when the protruding slide block 741 slides to the top end of the spiral chute 751, the protruding slide block 741 moves downwards from the top end of the axial chute 752 to complete the release action, so that a bouncing force is provided for the inspection robot, and the inspection robot is made to bounce. The drive motor and drive wheel are mounted at the other end of the vertical link 72. The steering motor rotates to drive the shifting fork to rotate, and the shifting fork rotates to drive the driving wheel to steer. The driving motor can drive the driving wheel to rotate.

With reference to fig. 6 and 10-12, the base plate 1 is provided with a telescopic lifting mechanism, a bracket 5 is fixedly arranged above the base plate 1, the bracket 5 is provided with an electric motor 81 for driving the telescopic lifting mechanism to lift, and the top of the telescopic lifting mechanism is provided with a detector 6. The telescopic lifting mechanism drives the detector 6 to lift by lifting so as to obtain a high distance view angle.

The telescopic lifting mechanism comprises a variable-pitch screw rod 82 and a variable-pitch nut 83, and the variable-pitch nut 83 is sleeved outside the variable-pitch screw rod 82. The bottom plate 1 is fixed with circumference limit sleeve 84, and circumference limit sleeve 84's cross section is square, and the bottom of variable pitch lead screw 82 is established in circumference limit sleeve 84, and the cross section of the bottom of variable pitch lead screw 82 also is square to make the connection of variable pitch lead screw 82 relative fixed axial relative slip relative to bottom plate 1 circumference. The variable pitch screw 82 includes a plurality of connection seats 821 and screw members 85, and the plurality of connection seats 821 are sequentially arranged from bottom to top. Three sleeve pieces 822 sleeved with each other are arranged between two connecting seats 821 adjacent to each other, and the diameters of the sleeve pieces 822 are sequentially increased from inside to outside. The innermost sleeve 822 is fixedly connected with the connecting seat 821 above the sleeve 822, the outermost sleeve 822 is fixedly connected with the connecting seat 821 below the sleeve 822, and the sleeve 822 can mutually slide up and down. An anti-drop structure is arranged between the innermost sleeve 822 and the middle sleeve 822, and comprises an outer convex rib 824 arranged on the outer surface of the innermost sleeve 822 and an inner convex rib 823 arranged on the inner surface of the middle sleeve 822, and when the inner sleeve 822 slides upwards, the anti-drop structure prevents the innermost sleeve 822 from being separated from the outermost sleeve 822. The same anti-slip structure as described above is also provided between intermediate sleeve 822 and outermost sleeve 822. The screw 85 is wound around the connection base 821 and is hinged to the connection base 821. The screw member 85 is provided with a hinge point at each half pitch, and the hinge point is hinged with the connection base 821. The variable-pitch nut 83 is provided with a spiral groove which is matched with the spiral member 85, and the spiral groove in the variable-pitch nut 83 is divided into an upper-stage spiral groove 831 and a lower-stage spiral groove 832, and the pitch of the upper-stage spiral groove 831 is larger than that of the lower-stage spiral groove 832. The bracket 5 is provided with an avoiding hole for avoiding the variable-pitch screw rod 82, and the variable-pitch screw rod 82 passes through the avoiding hole. The variable pitch nut 83 is externally provided with a circle of transmission gear, and the output shaft of the electric motor 81 is fixed with a driving gear which is meshed with the transmission gear. The driving gear and the transmission gear are arranged below the bracket 5.

When the detector 6 needs to be lifted, the electric motor 81 is driven, the electric motor 81 rotates to drive the variable pitch nut 83 to rotate, the variable pitch nut 83 rotates to drive the screw member 85 to spiral in the spiral groove, the screw member 85 ascends to drive the connecting seat 821 to ascend, when the screw member 85 rotates to the position of the upper section spiral groove 831, the pitch between the screw members 85 becomes larger, and meanwhile, the distance between two adjacent connecting seats 821 is increased, so that the variable pitch screw 82 is extended. When the electric motor 81 drives the variable pitch nut 83 to rotate, the screw member 85 is spirally lowered, the screw member 85 is lowered to drive the connecting seat 821 to be lowered, and when the screw member 85 rotates to the position of the lower section spiral groove 832, the pitch between the screw members 85 is reduced, and meanwhile, the distance between two adjacent connecting seats 821 is reduced, so that the variable pitch screw rod 82 is shortened. In a specific application, a spring is provided between adjacent beam connection bases 821 to assist in lifting the variable pitch screw 82.

The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.

Claims

1. A self-balancing inspection robot, comprising a base plate, the base plate being equipped with a driving steering mechanism for steering the robot, characterized in that:

It also includes a momentum balancing mechanism, the momentum balancing mechanism includes a first power mechanism, a first momentum wheel, a second power mechanism and a second momentum wheel installed on the bottom plate, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism drives the second momentum wheel to rotate;

When the robot tilts to the left, the first power mechanism drives the first momentum wheel to rotate, and the second power mechanism brakes. When the robot tilts to the right, the second power mechanism drives the second momentum wheel to rotate, and the first power mechanism brakes.

The driving steering mechanism comprises a driving mechanism and a steering mechanism, wherein the steering mechanism is rotatably mounted on the bottom plate, the driving mechanism is mounted under the bottom plate, and the steering mechanism drives the driving mechanism to turn.

The steering mechanism comprises a steering motor and a shift fork, wherein the steering motor is mounted on the bottom plate, and the shift fork comprises a transverse connecting member and a vertical connecting member, wherein the transverse connecting member is fixedly connected to the output shaft of the steering motor, one end of the vertical connecting member is hinged to one side of the transverse connecting member, and a bouncing structure is provided between the other end of the vertical connecting member and the other side of the transverse connecting member.

The bouncing structure includes a power motor, a guide column, a guide sleeve and a supporting connection piece, wherein the supporting connection piece and the other end of the vertical connection piece are hinged, the power motor is installed on the supporting connection piece, the guide column and the supporting connection piece are rotatably connected, the power motor and the guide column are transmission-connected to drive the guide column to rotate, the guide sleeve is sleeved outside the guide column, the guide sleeve and the other side of the transverse connection piece are hinged, the guide sleeve is provided with a spiral slide groove, the spiral slide groove surrounds the guide sleeve, an axial slide groove is provided between the two ends of the spiral slide groove, the guide column is provided with a raised slider that cooperates with the spiral slide groove and the axial slide groove, an elastic piece is provided between the guide column and the guide sleeve,

The steering mechanism also includes a steering sleeve, which is fixedly connected to the output shaft of the steering motor, one end of the shift fork is axially relatively slidable and circumferentially relatively fixedly connected to the steering sleeve, the steering sleeve is provided with a slide groove, one end of the shift fork is provided with a protrusion, one end of the shift fork extends into the steering sleeve, and the protrusion is slidably connected to the slide groove.

2. A self-balancing inspection robot according to claim 1, characterized in that:

The first power mechanism includes a first motor, a first bevel gear, and a second bevel gear. The output shaft of the first motor is fixedly mounted on the first bevel gear, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is coaxially connected to the first momentum wheel. The second power mechanism includes a second motor, a third bevel gear, and a fourth bevel gear. The output shaft of the second motor is fixedly mounted on the third bevel gear, the third bevel gear is meshed with the fourth bevel gear, and the fourth bevel gear is coaxially connected to the second momentum wheel.

3. A self-balancing inspection robot according to claim 1, characterized in that:

A shock absorbing mechanism is provided between the bottom plate and the shift fork, and the shock absorbing mechanism includes a shock absorbing spring, a first spring bowl support and a second spring bowl support, the first spring bowl support is provided with a first inner hole, the second spring bowl support is provided with a second inner hole, one end of the shift fork passes through the first inner hole and the second inner hole, and the shock absorbing spring is provided between the first spring bowl support and the second spring bowl support.

4. The self-balancing inspection robot according to claim 1, characterized in that:

The driving mechanism comprises a driving motor and a driving wheel. The driving motor is mounted on the shift fork. The driving wheel is rotatably connected to the shift fork. The driving wheel is fixedly connected to an output shaft of the driving motor.

5. A self-balancing inspection robot according to any one of claims 1 to 4, characterized in that:

The bottom plate is provided with a telescopic lifting mechanism, a bracket is fixedly installed above the bottom plate, the bracket is provided with an electric motor for driving the telescopic lifting mechanism to rise and fall, and a detector is installed on the top of the telescopic lifting mechanism.

6. The self-balancing inspection robot according to claim 5, characterized in that:

The telescopic lifting mechanism includes a variable pitch screw and a variable pitch nut, the variable pitch nut is sleeved on the outside of the variable pitch screw, the variable pitch screw and the base plate are relatively fixed in the circumferential direction and are relatively slidably connected in the axial direction, the variable pitch screw includes a plurality of connecting seats and a spiral member, the plurality of connecting seats are arranged in sequence from bottom to top, and a plurality of sets of mutually sleeved sets are provided between two adjacent connecting seats above and below, the innermost set is fixedly connected to the connecting seat above it, and the outermost set is fixedly connected to the connecting seat below it, the spiral member surrounds the outside of the connecting seat and is hinged to the connecting seat, a spiral groove matching with the spiral member is provided in the variable pitch nut, the spiral groove in the variable pitch nut is divided into an upper spiral groove and a lower spiral groove, the pitch of the upper spiral groove is larger than the pitch of the lower spiral groove, and the variable pitch nut is connected to the electric motor gear transmission.