CN111844079B

CN111844079B - Intelligent robot is patrolled and examined to electric power of emergency rescue

Info

Publication number: CN111844079B
Application number: CN202010765668.0A
Authority: CN
Inventors: 杨艳萍; 许强; 冯永彬; 李宝
Original assignee: Dezhou Power Supply Co of State Grid Shandong Electric Power Co Ltd
Current assignee: Dezhou Power Supply Co of State Grid Shandong Electric Power Co Ltd
Priority date: 2020-08-03
Filing date: 2020-08-03
Publication date: 2021-05-14
Anticipated expiration: 2040-08-03
Also published as: CN111844079A

Abstract

The invention discloses an electric power inspection intelligent robot for emergency rescue, which comprises a base, wherein a rail is fixedly arranged on the base, a moving device is arranged in the rail, a machine body is arranged on the moving device, a detection head is fixedly arranged at the tail end of the machine body, and a detection cavity penetrates through the left side surface of the detection head; the invention has simple structure and convenient use, can distinguish whether the exposed electric wire is electrified or not, and can carry out closed insulation treatment on the wire end by using the loose glue after encountering the electrified electric wire, thereby preventing rescue workers or trapped people from electric shock and injury caused by mistaken touch. Meanwhile, the magnet-absorbing shell is arranged outside the electromagnet, so that the electromagnet arranged in the detecting head can be prevented from influencing an electric device for controlling the operation of the mechanical arm.

Description

Intelligent robot is patrolled and examined to electric power of emergency rescue

Technical Field

The invention relates to the technical field of intelligent robots, in particular to an electric power inspection intelligent robot for emergency rescue.

Background

The intelligent robot is applied to a plurality of fields, particularly to some work with high danger, such as rescue in disaster and reconstruction after disaster. When rescue is carried out in disaster areas, wires arranged inside the rescue device are exposed due to deformation of buildings, and whether the wires exposed outside are provided with points cannot be determined, so that the safety of rescue personnel is possibly threatened when the rescue personnel carry out rescue actions. And because the environment in a collapsed building is very harsh, if the naked electric wires are inspected by manpower, the work is very important, so that the intelligent robot is a good choice.

Disclosure of Invention

The invention aims to provide an electric power inspection intelligent robot for emergency rescue, which is used for overcoming the defects in the prior art.

The intelligent robot for electric power inspection for emergency rescue comprises a base, wherein a rail is fixedly arranged on the base, a moving device is arranged in the rail, a machine body is arranged on the moving device, a detection head is fixedly arranged at the tail end of the machine body, a detection cavity is arranged in the left side face of the detection head in a penetrating manner, a metal detection plate is hermetically arranged in the detection cavity, a rectifier is fixedly arranged on the right wall of the detection cavity on the right side of the metal detection plate and connected with the metal detection plate through a lead, an electromagnetic cavity is arranged on the right side of the detection cavity and wrapped by a magnetic absorption shell, a first electromagnet connected with the rectifier is fixedly arranged on the left wall of the electromagnetic cavity, a fixed block is fixedly arranged on the right wall of the electromagnetic cavity, a first sliding groove is arranged in the fixed block in a penetrating manner from left to right, and a first iron block is slidably connected in the first, the right side surface of the first iron block is fixedly connected with the right wall of the electromagnetic cavity through a first spring, first sliding rails with symmetrical positions are communicated and arranged in the upper wall and the lower wall of the first sliding groove, a first connecting rod is connected in the first sliding rails in a sliding manner, the inner side of the first connecting rod is fixedly connected with the upper side surface and the lower side surface of the first iron block, a rack is fixedly arranged on the right side surface of the first iron block, second sliding grooves are symmetrically arranged in the upper wall and the lower wall of the detecting head, second sliding rails are arranged in the left wall of the second sliding groove in a penetrating manner, a connecting block is connected in the second sliding rails in a sliding manner, a rotating box is fixedly arranged on the left side of the connecting block, a clamping device capable of fixing an electric wire is arranged in the rotating box, a control device is arranged in the second sliding groove, a first electromagnet can drive the rotating box to move downwards through the control device to, the hydraulic pump is provided with a hydraulic pipe, the top end of the hydraulic pipe is fixedly provided with a closed box, the closed box can perform insulation treatment on exposed electric wires, and the right side face of the closed box is provided with a treatment cavity in a penetrating mode.

Optionally, the machine body comprises a first mechanical arm rotatably connected and arranged on the mobile device, a second mechanical arm is rotatably connected to the upper end of the first mechanical arm, a third mechanical arm is rotatably connected to the upper end of the second mechanical arm, a fourth mechanical arm is rotatably connected to the left end of the third mechanical arm, and the left side surface of the fourth mechanical arm is fixedly connected with the detecting head.

Optionally, be equipped with first rotation chamber in the rotation case, clamping device including set firmly in the motor of first rotation chamber top surface, the motor bottom surface is installed and is run through the first axis of rotation case, first axis of rotation end has set firmly the holding head, the holding head is kept away from be equipped with the arc wall in the side of first axis of rotation, be equipped with pressure sensor in the arc wall.

Optionally, the control device includes a threaded shaft rotatably connected between the upper wall and the lower wall of the second sliding groove, a first bevel gear is fixedly arranged on the threaded shaft, a connection box is connected to the threaded shaft through a thread, the connection box is fixedly connected to the right side surface of the connection block, a third slide rail is connected to the right wall of the second sliding groove, a second connection rod is slidably connected to the third slide rail, the left side surface of the second connection rod is fixedly connected to the right side surface of the connection box, a second rotation shaft is rotatably connected to the right wall of the second sliding groove, a second bevel gear engaged with the first bevel gear is fixedly arranged at the left end of the second rotation shaft, a second rotation cavity is arranged at the right side of the electromagnetic cavity, the second rotation shaft extends into the second rotation cavity, a third bevel gear is fixedly arranged at the right end of the second rotation shaft, and a third rotation shaft is rotatably connected between the upper wall and the lower wall of the second rotation cavity, a first gear meshed with the rear side face of the rack is fixedly arranged on the third rotating shaft, a fourth bevel gear meshed with the third bevel gear is arranged above the first gear, and a fifth bevel gear meshed with the third bevel gear is arranged below the first gear.

Optionally, a third rotating cavity is arranged in the connecting box, a resetting device is arranged in the third rotating cavity, a first belt wheel is in threaded connection with the threaded shaft in the third rotating cavity, annular grooves with symmetrical positions are formed in the upper side and the lower side of the first belt wheel in a communicated manner, a limiting rod is in sliding connection with the annular grooves and fixedly connected with the upper wall and the lower wall of the third rotating cavity, a fourth rotating shaft is rotatably connected between the upper wall and the lower wall of the first rotating cavity, a second belt wheel is fixedly arranged on the fourth rotating shaft, the second belt wheel and the first belt wheel are in belt transmission, a second gear is arranged below the second belt wheel, a ratchet wheel meshed with the second gear is fixedly arranged on the first rotating shaft, and a first electromagnetic locking device which locks the threaded shaft to be incapable of rotating is arranged in the side wall of the second sliding groove close to the detection cavity, and a second electromagnetic locking device which locks the fourth rotating shaft and can not rotate is arranged in the side wall of the first rotating cavity, which is close to the detection cavity.

Optionally, the second sliding groove is close to be equipped with first shifting chute in the lateral wall of surveying the chamber, electromagnetic locking device one including sliding connection set up in the second iron plate in the first shifting chute, the second iron plate with pass through second spring fixed connection between the first shifting chute left wall, first shifting chute left side is equipped with electro-magnet two, be equipped with in the threaded shaft with first shifting chute opposite position's first spacing groove, after electrified electric wire with the metal detection board contacts, the electric current process behind the rectifier with the electro-magnet two links to each other thereby start the electro-magnet second attracts the second iron plate to remove in the first shifting chute.

Optionally, the first rotating cavity is close to a second moving groove is formed in a side wall of the detection cavity, the second electromagnetic locking device comprises a third iron block which is arranged in the second moving groove in a sliding connection mode, the third iron block is fixedly connected with a left wall of the second moving groove through a third spring, a second limiting groove which is opposite to the second moving groove in position is formed in the fourth rotating shaft, and a third electromagnet is fixedly arranged on the right side of the second limiting groove.

Optionally, the front side and the rear side of the base are symmetrically provided with tracks.

Optionally, a vision sensor is fixedly arranged on the top surface of the detecting head.

The invention has the beneficial effects that: the invention has simple structure and convenient use, is provided with the metal plate and the rectifier, leads the metal plate to be electrified by the electric wire after encountering the electric wire exposed outside and electrified, forms a loop with the electromagnet by rectification of the rectifier, starts the electromagnet to control the detection head to fix the electric wire, controls the hydraulic pump and the motor to start by the pressure sensor arranged in the clamping head, and sends the electric wire exposed outside into the closed box to carry out closed insulation treatment on the electric wire by using loose glue. The electrified wire and the uncharged wire can be distinguished, the electrified wire is subjected to sealing insulation treatment, and rescue workers or trapped people are prevented from being touched by mistake and being injured by electric shock.

Meanwhile, the magnet-absorbing shell is arranged outside the electromagnet, so that the electromagnet arranged in the detecting head can be prevented from influencing an electric device for controlling the operation of the mechanical arm.

Drawings

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

Fig. 1 is a schematic structural diagram of an electric power inspection intelligent robot for emergency rescue according to the invention;

FIG. 2 is an enlarged view of the structure at the detector head of FIG. 1;

FIG. 3 is an enlarged schematic view of the structure of the electromagnetic cavity of FIG. 2;

FIG. 4 is an enlarged view of the second sliding groove of FIG. 2;

FIG. 5 is an enlarged view of a portion of the electromagnetic locking device of FIG. 4;

FIG. 6 is an enlarged view of the structure of the reset device of FIG. 4;

FIG. 7 is a schematic view of the structure of FIG. 6 at A-A;

FIG. 8 is an enlarged view of the structure of the rotary box of FIG. 2;

FIG. 9 is a schematic view of the structure at B-B in FIG. 8;

fig. 10 is an enlarged schematic view of the structure of the second position of the electromagnetic locking device in fig. 8.

Detailed Description

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of 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 present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 10, an intelligent robot for electric inspection for emergency rescue according to an embodiment of the present invention includes a base 15, a rail 17 is fixedly disposed on the base 15, a moving device 18 is disposed in the rail 17, a machine body 101 is disposed on the moving device 18, a probe 22 is fixedly disposed at a terminal of the machine body 101, a probe cavity 33 is penetratingly disposed in a left side surface of the probe 22, a metal probe plate 34 is hermetically disposed in the probe cavity 33, a rectifier 36 is fixedly disposed on a right wall of the probe cavity 33 on a right side of the metal probe plate 34, the rectifier 36 is connected to the metal probe plate 34 through a wire 35, an electromagnetic cavity 40 is disposed on a right side of the probe cavity 33, a magnetic absorption housing 38 is wrapped outside the electromagnetic cavity 40, a first electromagnet 39 connected to the rectifier 36 is fixedly disposed on a left wall of the electromagnetic cavity 40, a fixing block 41 is fixedly disposed on a right wall of the electromagnetic cavity 40, a first sliding groove 45 penetrates through the left side and the right side of the fixed block 41, a first iron block 78 is connected in the first sliding groove 45 in a sliding manner, the right side of the first iron block 78 is fixedly connected with the right wall of the electromagnetic cavity 40 through a first spring 44, first sliding rails 42 with symmetrical positions are communicated in the upper wall and the lower wall of the first sliding groove 45, first connecting rods 43 are connected in the first sliding rails 42 in a sliding manner, the inner sides of the first connecting rods 43 are fixedly connected with the upper side and the lower side of the first iron block 78, a rack 26 is fixedly arranged on the right side of the first iron block 78, second sliding grooves 31 are symmetrically arranged in the upper wall and the lower wall of the detecting head 22, second sliding rails 55 penetrate through the left wall of the second sliding grooves 31, connecting blocks 54 are connected in the sliding manner, a rotating box 32 is fixedly arranged on the left side of the connecting blocks 54, a clamping device 102 capable of fixing electric wires is arranged in the rotating box 32, the inside of the second sliding groove 31 is provided with a control device 103, the first electromagnet 39 can drive the rotating box 32 to move downwards through the control device 103 to clamp and fix the electric wire, the base 15 on the left side of the track 17 is fixedly provided with a hydraulic pump 14, the hydraulic pump 14 is provided with a hydraulic pipe 13, the top end of the hydraulic pipe 13 is fixedly provided with a closed box 11, the closed box 11 can perform insulation treatment on the exposed electric wire, and the right side surface of the closed box 11 penetrates through a treatment cavity 12.

Preferably, the machine body 101 includes a first mechanical arm 19 rotatably connected to and disposed on the moving device 18, the upper end of the first mechanical arm 19 is rotatably connected to and disposed with a second mechanical arm 20, the upper end of the second mechanical arm 20 is rotatably connected to a third mechanical arm 21, the left end of the third mechanical arm 21 is rotatably connected to a fourth mechanical arm 23, the left side of the fourth mechanical arm 23 is fixedly connected to the detecting head 22, and the first mechanical arm 19, the second mechanical arm 20, the third mechanical arm 21 and the fourth mechanical arm 23 are mutually matched to enable the detecting head 22 to reach any coordinate position in space.

Preferably, a first rotating chamber 64 is provided in the rotating box 32, the clamping device 102 includes a motor 65 fixedly disposed on the top surface of the first rotating chamber 64, a first rotating shaft 67 penetrating through the rotating box 32 is mounted on the bottom surface of the motor 65, a clamping head 68 is fixedly disposed at the end of the first rotating shaft 67, an arc-shaped groove 69 is provided in the side surface of the clamping head 68 away from the first rotating shaft 67, a pressure sensor 70 is provided in the arc-shaped groove 69, when the two rotating boxes 32 move toward the detecting chamber 33, the clamping head 68 clamps the electric wire in the arc-shaped groove 69 to fix the electric wire, then when the motor 65 is started, the motor 65 drives the clamping head 68 to rotate through the first rotating shaft 67, and since the detecting chamber 33 is shallow, the clamping head 68 can drive the electric wire to rotate when rotating, and rotate the head outside the detecting chamber 33, when the force detected by the pressure sensor 70 no longer changes, the motor 65 is activated.

Preferably, the control device 103 includes a threaded shaft 50 rotatably connected between the upper wall and the lower wall of the second sliding groove 31, a first bevel gear 49 is fixedly disposed on the threaded shaft 50, a connection box 51 is threadedly connected to the threaded shaft 50, the connection box 51 is fixedly connected to the right side surface of the connection block 54, a third slide rail 46 is connected to the right wall of the second sliding groove 31, a second connection rod 47 is slidably connected to the third slide rail 46, the left side surface of the second connection rod 47 is fixedly connected to the right side surface of the connection box 51, a second rotation shaft 30 is rotatably connected to the right wall of the second sliding groove 31, a second bevel gear 48 engaged with the first bevel gear 49 is fixedly disposed at the left end of the second rotation shaft 30, a second rotation cavity 24 is disposed at the right side of the electromagnetic cavity 40, the second rotation shaft 30 extends into the second rotation cavity 24, and a third bevel gear 29 is fixedly disposed at the right end of the second rotation shaft 30, a third rotating shaft 27 is rotatably connected between the upper wall and the lower wall of the second rotating cavity 24, a first gear 25 engaged with the rear side surface of the rack 26 is fixedly arranged on the third rotating shaft 27, a fourth bevel gear 28 engaged with the third bevel gear 29 is arranged above the first gear 25, a fifth bevel gear 37 engaged with the third bevel gear 29 is arranged below the first gear 25, when the rack 26 moves leftwards, the rack 26 drives the third rotating shaft 27 to rotate through the first gear 25, the third rotating shaft 27 drives the fourth bevel gear 28 and the fifth bevel gear 37 to rotate, the fourth bevel gear 28 and the fifth bevel gear 37 drive the second rotating shaft 30 to rotate through the third bevel gear 29, the second rotating shaft 30 drives the first bevel gear 49 to rotate through the second bevel gear 48, and the first bevel gear 49 drives the connecting box 51 to rotate through the threaded shaft 50, the connecting box 51 is limited by the second connecting rod 47 to move towards the detection cavity 33, and the connecting box 51 drives the rotating box 32 to move towards the detection cavity 33 through the connecting block 54.

Preferably, a third rotating cavity 52 is arranged in the connecting box 51, a resetting device 104 is arranged in the third rotating cavity 52, a first belt wheel 61 is in threaded connection with the threaded shaft 50 in the third rotating cavity 52, annular grooves 62 with symmetrical positions are formed in the upper side and the lower side of the first belt wheel 61 in a communicating manner, a limiting rod 63 is in sliding connection with the annular groove 62, the limiting rod 63 is fixedly connected with the upper wall and the lower wall of the third rotating cavity 52, a fourth rotating shaft 76 is rotatably connected between the upper wall and the lower wall of the first rotating cavity 64, a second belt wheel 77 is fixedly arranged on the fourth rotating shaft 76, the second belt wheel 77 and the first belt wheel 61 are in transmission through a belt 53, a second gear 79 is arranged below the second belt wheel 77, a ratchet wheel 66 meshed with the second gear 79 is fixedly arranged on the first rotating shaft 67, a first electromagnetic locking device 105 which can lock the threaded shaft 50 and can not rotate is arranged in the side wall of the second sliding groove 31 close to the detection cavity 33, an electromagnetic locking device two 106 for locking the fourth rotating shaft 76 against rotation is disposed in a sidewall of the first rotating chamber 64 close to the detecting chamber 33, when the fourth rotating shaft 76 is locked, the fourth rotating shaft 76 cannot rotate, so that the second pulley 77 fixed to the fourth rotating shaft 76 cannot rotate, and therefore the first pulley 61 connected to the second pulley 77 via the belt 53 cannot rotate, when the threaded shaft 50 rotates, the first pulley 61 cannot rotate and moves along the threaded shaft 50 together with the connecting box 51, and when the threaded shaft 50 is locked and the fourth rotating shaft 76 rotates, the fourth rotating shaft 76 drives the first pulley 61 via the second pulley 77 and the belt 53, and because the threaded shaft 50 cannot rotate, therefore, when the first pulley 61 rotates, the first pulley moves along the threaded shaft 50, so as to drive the rotating box 32 to move and reset, and the next wire detection operation can be performed.

Preferably, a first moving groove 58 is formed in a side wall of the second sliding groove 31 close to the detection cavity 33, the first electromagnetic locking device 105 includes a second iron block 59 slidably connected and disposed in the first moving groove 58, the second iron block 59 is fixedly connected with a left wall of the first moving groove 58 through a second spring 57, a second electromagnet 56 is disposed on a left side of the first moving groove 58, a first limit groove 60 is disposed in the threaded shaft 50 and opposite to the first moving groove 58, when a charged electric wire contacts the metal detection plate 34, a current passes through the rectifier 36 and is connected with the second electromagnet 56 to start the second electromagnet 56 to attract the second iron block 59 to move into the first moving groove 58, and when the second iron block 59 completely moves out of the first limit groove 60, the first electromagnetic locking device 105 releases the locking of the threaded shaft 50, when the charged electric wire is separated from the metal detection plate 34, the second electromagnet 56 no longer attracts the second iron block 59, the second iron block 59 moves into the first limiting groove 60, and the first electromagnetic locking device 105 completes locking of the threaded shaft 50.

Preferably, a second moving groove 73 is formed in a side wall of the first rotating cavity 64 close to the detecting cavity 33, the second electromagnetic locking device 106 includes a third iron block 71 slidably connected and disposed in the second moving groove 73, the third iron block 71 is fixedly connected with a left wall of the second moving groove 73 through a third spring 72, a second limiting groove 74 opposite to the second moving groove 73 is formed in the fourth rotating shaft 76, an electromagnet third 75 is fixedly disposed on a right side of the second limiting groove 74, when a charged electric wire contacts the metal detecting plate 34, a current passes through the rectifier 36 and then is connected with the electromagnet third 75 to start the electromagnet third 75 to attract the third iron block 71 to move into the second limiting groove 74, and when the third iron block 71 moves into the second limiting groove 74, the second electromagnetic locking device 106 completes locking of the fourth rotating shaft 76, when the charged electric wire is separated from the metal detection plate 34, the electromagnet third 75 no longer attracts the third iron piece 71, the third iron piece 71 moves into the second moving groove 73 under the action of the third spring 72, and the electromagnetic locking device second 106 releases the locking of the fourth rotating shaft 76.

Preferably, the front and back sides of the base 15 are symmetrically provided with tracks 16, and the tracks 16 can carry the robot to move.

Preferably, a vision sensor 80 is fixed on the top surface of the probe 22, and can detect the surrounding environment and search for exposed wires.

In an initial state, the connecting block 54 is located on a side of the second slide rail 55 farthest from the detection cavity 33, the second iron block 59 is located in the first limiting groove 60, the first electromagnetic locking device 105 locks the rotation of the threaded shaft 50, the second spring 57 is in a compressed state, the third iron block 71 is located in the second moving groove 73, the second electromagnetic locking device 106 unlocks the fourth rotating shaft 76, the third spring 72 is in an unstressed state, the first connecting rod 43 is located on the rightmost side of the first slide rail 42, and the first spring 44 is in an extended state.

When rescue work is carried out, the crawler 16 drives the robot to move, the surrounding environment is detected through the visual sensor 80, an exposed electric wire is searched, after the exposed electric wire is found, the machine body 101 drives the detecting head 22 to move, and the exposed electric wire is contained in the detecting cavity 33 to be detected.

After the exposed electric wire enters the detection cavity 33, the exposed electric wire is contacted with the metal detection plate 34 and then is clamped by the clamping head 68, the electric wire is then rotated, the hydraulic pump 14 is started, the hydraulic pipe 13 is extended by the hydraulic pump 14, so that the hydraulic pipe 13 drives the closed box 11 to move upwards, then the machine body 101 drives the detection head 22 to move, the exposed electric wire is moved into the treatment cavity 12, the exposed electric wire is wrapped by the closed box, and the loose rubber is filled in the exposed electric wire.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides an intelligent robot is patrolled and examined to electric power of emergency rescue, includes the base, its characterized in that: the detection device is characterized in that a rail is fixedly arranged on the base, a moving device is arranged in the rail, a machine body is arranged on the moving device, a detection head is fixedly arranged at the tail end of the machine body, a detection cavity penetrates through the left side surface of the detection head, a metal detection plate is arranged in the detection cavity in a sealed mode, a rectifier is fixedly arranged on the right wall of the detection cavity on the right side of the metal detection plate and connected with the metal detection plate through a lead, an electromagnetic cavity is arranged on the right side of the detection cavity, a magnetic absorption shell is wrapped outside the electromagnetic cavity, a first electromagnet connected with the rectifier is fixedly arranged on the left wall of the electromagnetic cavity, a fixed block is fixedly arranged on the right wall of the electromagnetic cavity, a first sliding groove penetrates through the left and right sides of the fixed block, a first iron block is connected in the first sliding groove in a sliding mode, and the right side surface of the, the upper wall and the lower wall of the first sliding groove are communicated with first sliding rails with symmetrical positions, the first sliding rails are connected with first connecting rods in a sliding manner, the inner sides of the first connecting rods are fixedly connected with the upper side and the lower side of the first iron block, the right side of the first iron block is fixedly provided with a rack, the upper position and the lower position of the detecting head are symmetrically provided with second sliding grooves, the left wall of each second sliding groove is internally provided with a second sliding rail in a penetrating manner, the second sliding rail is connected with a connecting block in a sliding manner, the left side of the connecting block is fixedly provided with a rotating box, a clamping device capable of fixing an electric wire is arranged in the rotating box, a control device is arranged in each second sliding groove, the first electromagnet can drive the rotating box to move downwards through the control device to clamp and fix the electric wire, a hydraulic pump is fixedly arranged on the base on the left side of the rail, the closed box can carry out insulation treatment on the exposed electric wire, and a treatment cavity penetrates through the right side face of the closed box.

2. The intelligent robot for electric inspection tour of emergency rescue according to claim 1, characterized in that: the organism is including rotating to connect the setting first arm on the mobile device, first arm upper end is rotated to connect and is equipped with the second arm, second arm upper end is rotated and is connected with the third arm, the third arm left end is rotated and is connected with the fourth arm, the fourth arm left surface with detecting head fixed connection.

3. The intelligent robot for electric inspection tour of emergency rescue according to claim 1, characterized in that: the rotating box is internally provided with a first rotating cavity, the clamping device comprises a motor fixedly arranged on the top surface of the first rotating cavity, the bottom surface of the motor is provided with a first rotating shaft penetrating through the rotating box, the tail end of the first rotating shaft is fixedly provided with a clamping head, the clamping head is far away from an arc-shaped groove arranged in the side surface of the first rotating shaft, and a pressure sensor is arranged in the arc-shaped groove.

4. The intelligent robot for electric inspection tour of emergency rescue according to claim 3, is characterized in that: the control device comprises a threaded shaft which is rotatably connected between the upper wall and the lower wall of the second sliding groove, a first bevel gear is fixedly arranged on the threaded shaft, a connecting box is connected to the threaded shaft in a threaded manner, the connecting box is fixedly connected with the right side surface of the connecting block, a third slide rail is communicated with the right wall of the second sliding groove, a second connecting rod is connected in the third slide rail in a sliding manner, the left side surface of the second connecting rod is fixedly connected with the right side surface of the connecting box, a second rotating shaft is rotatably connected to the right wall of the second sliding groove, a second bevel gear meshed with the first bevel gear is fixedly arranged at the left end of the second rotating shaft, a second rotating cavity is arranged at the right side of the electromagnetic cavity, the second rotating shaft extends into the second rotating cavity, a third bevel gear is fixedly arranged at the tail end of the right side of the second rotating shaft, and a third rotating shaft is rotatably connected between the upper, a first gear meshed with the rear side face of the rack is fixedly arranged on the third rotating shaft, a fourth bevel gear meshed with the third bevel gear is arranged above the first gear, and a fifth bevel gear meshed with the third bevel gear is arranged below the first gear.

5. The intelligent robot for electric inspection tour of emergency rescue according to claim 4, is characterized in that: be equipped with the third in the connecting box and rotate the chamber, the third rotates the intracavity and is equipped with resetting means, the third rotates the intracavity threaded shaft goes up threaded connection and has first band pulley, the intercommunication is equipped with the ring channel of position symmetry in the side of going up and down of first band pulley, sliding connection has the gag lever post in the ring channel, the gag lever post with wall fixed connection about the third rotation chamber, it is connected with the fourth axis of rotation to rotate between the wall about the first rotation chamber, the second band pulley has set firmly in the fourth axis of rotation, the second band pulley with through belt drive between the first band pulley, second band pulley below is equipped with the second gear, set firmly on the first axis of rotation with second gear engagement's ratchet, the second sliding tray is close to be equipped with in the lateral wall of surveying chamber with the threaded shaft locking can not pivoted electromagnetic locking device one, first rotation chamber is close to be equipped with in the lateral wall of surveying chamber can not rotate fourth axis of rotation locking can not rotate The second electromagnetic locking device.

6. The intelligent robot for electric inspection tour of emergency rescue according to claim 5, wherein: the second sliding groove is close to be equipped with first shifting chute in the lateral wall of surveying the chamber, electromagnetism locking device one include sliding connection set up in the second iron plate in the first shifting chute, the second iron plate with pass through second spring fixed connection between the first shifting chute left wall, first shifting chute left side is equipped with electro-magnet two, be equipped with in the threaded spindle with first shifting chute position relative first spacing groove, when electrified electric wire with after the metal detection board contacts, the electric current process behind the rectifier with the electro-magnet two links to each other thereby start the electro-magnet second attracts the second iron plate to first shifting chute removes.

7. The intelligent robot for electric inspection tour of emergency rescue according to claim 6, wherein: the first rotating cavity is close to a second moving groove is formed in the side wall of the detection cavity, the second electromagnetic locking device comprises a third iron block which is arranged in the second moving groove in a sliding connection mode, the third iron block is fixedly connected with the left wall of the second moving groove through a third spring, a second limiting groove which is opposite to the second moving groove in position is formed in the fourth rotating shaft, and the third electromagnet is fixedly arranged on the right side of the second limiting groove.

8. The intelligent robot for electric inspection tour of emergency rescue according to claim 1, characterized in that: the front side and the rear side of the base are symmetrically provided with caterpillar bands.

9. The intelligent robot for electric inspection tour of emergency rescue according to claim 1, characterized in that: and the top surface of the detecting head is fixedly provided with a vision sensor.