Anti-collision device of substation inspection robot

Abstract

This invention relates to the field of substation inspection devices, specifically an anti-collision device for a substation inspection robot. The device includes a connecting plate with connecting holes. A housing is fixedly connected to one outer wall of the connecting plate, and an anti-collision structure is provided on the housing. The anti-collision plate presses inward to slide a sliding rod. As the sliding rod slides towards the housing, it drives a limiting rod to slide, which in turn drives a sliding block. When the sliding block slides, it slides relative to a second sliding block, thus pressing the second sliding block downwards under the action of an inclined plane. As the second sliding block moves downwards, it drives a lifting rod to move downwards. As the lifting rod moves downwards, it drives a fixed plate to move downwards. The fixed plate rises under the pressure, thereby lifting the robot's front wheels off the ground, putting them in a suspended state. This prevents the robot from continuing to move forward after a collision, as the drive system continues to operate, leading to more severe damage to the robot.

Description

Technical Field

[0001] This invention relates to the field of substation inspection device technology, specifically to an anti-collision device for a substation inspection robot. Background Technology

[0002] Substation inspection involves regularly observing equipment for any abnormalities, such as color changes, the presence of foreign objects, normal meter readings, normal equipment sounds, unusual odors, and whether the temperature of permissible contact equipment is normal. It also includes measuring changes in operating parameters of electrical equipment during operation to determine if the equipment is functioning correctly. The substation inspection system is an effective measure to ensure the normal and safe operation of equipment. Regular inspections are crucial for understanding equipment operating conditions, identifying abnormalities, and taking timely corrective action, which is essential for reducing the occurrence and impact of accidents.

[0003] Currently, substation inspections are typically carried out by substation inspection robots. These robots are prone to collisions during inspections, which can easily damage them. However, in existing robots, the drive system continues to operate after a collision, allowing the robot to continue moving forward, thus exacerbating the problem of damage to the robot.

[0004] Therefore, a collision avoidance device for substation inspection robots is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an anti-collision device for a substation inspection robot. When the lifting rod moves down, it drives the fixed plate to move down as well. The fixed plate rises under the pressure, thereby lifting the robot's front wheels off the ground and making the front wheels suspended in the air. This reduces the problem that after a collision, the drive system will continue to work, allowing the robot to continue moving forward, which would lead to more serious damage to the robot. This invention aims to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an anti-collision device for a substation inspection robot, comprising a connecting plate, wherein a connecting hole is provided on the connecting plate, and a box is fixedly connected to one outer wall of the connecting plate, wherein an anti-collision structure is provided on the box.

[0007] The anti-collision structure includes a sliding rod, the outer wall of which is slidably connected to the inner wall of one side of the box. An anti-collision plate is fixedly connected to one end of the sliding rod. A spring is fixedly connected to the anti-collision plate and the outer wall of one side of the box, located outside the sliding rod. A limit rod is fixedly connected to one end of the sliding rod, located inside the box. A slider is fixedly connected to the end of the limit rod away from the sliding rod. A lifting rod is slidably connected to the bottom of the box. A slider is fixedly connected to the top of the lifting rod. A spring is fixedly connected between the bottom outer wall of the slider and the bottom of the inner wall of the box, located outside the lifting rod. A fixing plate is fixedly connected to the bottom end of the lifting rod, located below the box. The inclined surfaces of slider one and slider two are slidably connected.

[0008] Preferably, the inner wall of the box is provided with an alarm structure.

[0009] Preferably, the alarm structure includes a connecting block, one outer wall of the connecting block is fixedly connected to one outer wall of the second slider, one outer wall of the connecting block is fixedly connected to the third slider, the bottom of the inner wall of the box is fixedly connected to an alarm, one outer wall of the alarm is fixedly connected to a control button, one outer wall of the control button is fixedly connected to a fourth slider, and one outer wall of the box, located on the right side of the alarm, has a speaker hole.

[0010] Preferably, the anti-collision plate is provided with protective structures on both sides.

[0011] Preferably, the two-sided protective structure includes a protective plate, which is rotatably mounted on both sides of the anti-collision plate. A sliding rod is fixedly connected to one side of the protective plate, and a limiting block is fixedly connected to one end of the sliding rod. A fixing rod is slidably connected to the outer wall of the limiting block, and one end of the fixing rod is fixedly connected to the outer wall of one side of the anti-collision plate. A spring is fixedly connected to the outer wall of one side of the limiting block and the outer wall of one side of the anti-collision plate, and located inside the fixing rod.

[0012] Preferably, the limiting rod is provided with a buffer structure.

[0013] Preferably, the buffer structure includes a rack, the top outer wall of which is fixedly connected to the bottom outer wall of the limiting rod, a rotating shaft fixedly connected between the two inner walls of the box, a gear rotatably connected to the outer wall of the rotating shaft, the teeth of the gear meshing with the teeth of the rack, a slide rod three slidably connected to one side of the box, a buffer plate fixedly connected to one end of the slide rod three outside the box, and a rack two fixedly connected to one end of the slide rod three inside the box, the teeth of the rack two meshing with the teeth of the gear.

[0014] Preferably, the limiting rod and the sliding rod are provided with a stabilizing structure.

[0015] Preferably, the stabilizing structure includes a sliding groove, which is formed on a sliding rod, and a stabilizing rod is fixedly connected between the two sides of the inner wall of the box, with the outer wall of the stabilizing rod slidably connected to the inner wall of the sliding groove.

[0016] Preferably, the stabilizing structure includes a second sliding groove, which is formed on the limiting rod. A second stabilizing rod is fixedly connected between the two sides of the inner wall of the box, and the outer wall of the second stabilizing rod is slidably connected to the inner wall of the second sliding groove.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. The anti-collision plate pushes the sliding rod one inward. When the sliding rod one slides into the box, it will drive the limit rod to slide, thereby driving the slider one to slide. When the slider one slides, it will slide relative to the slider two. Under the action of the inclined plane, it will push the slider two downward. As the slider two moves downward, it will drive the lifting rod to move downward. When the lifting rod moves downward, it will drive the fixed plate to move downward. The fixed plate will rise under the action of compression, thereby lifting the robot's front wheel off the ground, making the front wheel suspended in the air. This reduces the robot's risk of damage. After a collision, the drive system will continue to work, allowing the robot to continue moving forward, which will lead to more serious damage to the robot.

[0019] 2. When slider two moves downwards, it causes the connecting block to move downwards, which in turn causes slider three to move downwards. When slider three moves downwards and comes into contact with slider four, the inclined plane causes slider three to press slider four to the right, which in turn presses the control button to the right. When the robot's front wheel is suspended in the air, slider four presses the control button to the far right, thus activating the alarm. The alarm sounds and is transmitted through the speaker, notifying staff to check the situation promptly. This reduces the risk of staff not noticing collisions and repairs after damage. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a cross-sectional view of the structure of the present invention;

[0022] Figure 3 This is a cross-sectional view of the structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the protective structures on both sides of the present invention.

[0024] In the diagram: 1. Connecting plate; 11. Connecting hole; 12. Box body; 2. Anti-collision structure; 21. Slide rod one; 211. Spring one; 22. Anti-collision plate; 23. Limiting rod; 24. Slider one; 25. Slider two; 26. Lifting rod; 27. Spring two; 28. Fixing plate; 3. Alarm structure; 31. Connecting block; 32. Slider three; 33. Alarm; 34. Control button; 35. Slider four; 36. Speaker hole; 4. Side protection structure; 41. Protective plate; 42. Slide rod two; 43. Limiting block; 44. Fixing rod; 45. Spring three; 5. Buffer structure; 51. Rack one; 52. Rotating shaft; 53. Gear; 54. Slide rod three; 55. Buffer plate; 56. Rack two; 6. Stabilizing structure; 61. Slide groove one; 62. Stabilizing rod one; 63. Slide groove two; 64. Stabilizing rod two. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figures 1 to 4 The present invention provides a technical solution:

[0027] Collision avoidance devices for substation inspection robots, such as Figures 1 to 3 As shown, it includes a connecting plate 1, a connecting hole 11 is provided on the connecting plate 1, a box body 12 is fixedly connected to one outer wall of the connecting plate 1, and an anti-collision structure 2 is provided on the box body 12.

[0028] The anti-collision structure 2 includes a slide rod 21, the outer wall of which is slidably connected to the inner wall of one side of the box 12, an anti-collision plate 22 fixedly connected to one end of the slide rod 21, a spring 211 fixedly connected to the anti-collision plate 22 and the outer wall of one side of the box 12 outside the slide rod 21, a limit rod 23 fixedly connected to one end of the slide rod 21 inside the box 12, a slider 24 fixedly connected to the end of the limit rod 23 away from the slide rod 21, a lifting rod 26 slidably connected to the bottom of the box 12, a slider 25 fixedly connected to the top of the lifting rod 26, a spring 27 fixedly connected between the bottom outer wall of the slider 25 and the bottom of the inner wall of the box 12 outside the lifting rod 26, a fixing plate 28 fixedly connected to the bottom end of the lifting rod 26 below the box 12, and the inclined surface of the slider 24 and the inclined surface of the slider 25 slidably connected.

[0029] The connecting plate 1 is connected and fixed to the robot through the connecting hole 11, thereby fixing the anti-collision device to the robot. When the robot collides, the anti-collision structure 2 will lift the front wheel of the robot, thereby preventing the drive structure from continuing to drive the robot forward after the collision, which would lead to more serious damage to the robot.

[0030] When the robot is hit by a collision, the object first contacts the anti-collision plate 22, and the robot continues to move forward. Simultaneously, the strong impact force compresses the anti-collision plate 22, which in turn compresses spring 211. The spring force of spring 211 provides a cushioning effect. At the same time, the anti-collision plate 22 pushes the slider 21 inwards. As the slider 21 slides towards the box 12, it drives the limiting rod 23 to slide, which in turn drives the slider 24 to slide. When slider 24 slides, it slides relative to slider 25, thus, under the action of the inclined plane, it pushes slider 25 downwards. As slider 25 moves downwards, it... The lifting rod 26 moves downward, simultaneously compressing the second spring 27 to achieve secondary buffering, preventing the spring force of the first spring 211 from being less than the impact force, thus avoiding poor buffering effect. When the lifting rod 26 moves downward, it will also move the fixed plate 28 downward. After the fixed plate 28 contacts the ground, the robot will continue to move forward under the working state of the drive system. The fixed plate 28 will continue to rise under the squeezing action, thereby lifting the robot's front wheels off the ground, making the front wheels suspended in the air. This reduces the robot's risk of damage. Even after a collision, the drive system will continue to work, causing the robot to continue moving forward.

[0031] As one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, an alarm structure 3 is provided on the inner wall of the box 12;

[0032] The alarm structure 3 includes a connecting block 31, one outer wall of the connecting block 31 is fixedly connected to one outer wall of the slider 25, one outer wall of the connecting block 31 is fixedly connected to the slider 32, the bottom of the inner wall of the box 12 is fixedly connected to an alarm 33, one outer wall of the alarm 33 is fixedly connected to a control button 34, one outer wall of the control button 34 is fixedly connected to a slider 4 35, and one outer wall of the box 12, located to the right of the alarm 33, has a speaker hole 36.

[0033] When a robot collides with another robot, staff may not notice it immediately, which means that if the robot is damaged after a collision, the problem may not be detected and repaired in a timely manner.

[0034] When the robot collides, slider 25 moves downward, causing connecting block 31 to move downward. Connecting block 31 then moves slider 32 downward. As slider 32 moves downward, it comes into contact with slider 45. Under the action of the inclined plane, slider 32 will push slider 45 to the right, and slider 45 will push control button 34 to the right. When the robot's front wheel is suspended in the air, slider 45 will push control button 34 to the rightmost end, thereby activating alarm 33. Alarm 33 will sound an alarm, which will be transmitted through speaker 36, thus notifying staff to check the situation in time. This reduces the risk of staff not being able to detect the collision immediately, which could lead to problems such as the robot not being able to be repaired in time if it is damaged after a collision.

[0035] As one embodiment of the present invention, such as Figure 4 As shown, both sides of the anti-collision plate 22 are provided with a two-sided protective structure 4;

[0036] The two-sided protective structure 4 includes a protective plate 41, which is rotatably installed on both sides of the anti-collision plate 22. A sliding rod 42 is fixedly connected to one side of the protective plate 41. A limit block 43 is fixedly connected to one end of the sliding rod 42. A fixing rod 44 is slidably connected to the outer wall of the limit block 43. One end of the fixing rod 44 is fixedly connected to the outer wall of one side of the anti-collision plate 22. A spring 45 is fixedly connected to the outer wall of one side of the limit block 43 and the outer wall of one side of the anti-collision plate 22, and located inside the fixing rod 44.

[0037] When there are objects colliding with the robot on both sides, the anti-collision device does not have a protective structure for the sides. When the sides are hit, it cannot protect the robot, which will result in damage to the robot.

[0038] When both sides are impacted, the protective plate 41 rotates inward toward the anti-collision plate 22 after the impact. During this rotation, the sliding rod 42 retracts inward toward the fixed rod 44, and at the same time, it compresses the spring 45. After being compressed, the spring 45 compresses the limiting block 43 under the elastic action of the spring 45, thereby pushing the sliding rod 42 out of the fixed rod 44. This causes the protective plate 41 to rotate outward toward the anti-collision plate 22, thereby blocking and pushing away the impacting object. This reduces the risk of the anti-collision device being damaged when it lacks protective structures on both sides and cannot protect the robot when it is impacted on both sides.

[0039] As one embodiment of the present invention, such as Figures 2 to 3 As shown, a buffer structure 5 is provided on the upper part of the limiting rod 23;

[0040] The buffer structure 5 includes a rack 51, the top outer wall of the rack 51 is fixedly connected to the bottom outer wall of the limiting rod 23, a rotating shaft 52 is fixedly connected between the inner walls of the two sides of the box 12, a gear 53 is rotatably connected to the outer wall of the rotating shaft 52, the teeth of the gear 53 mesh with the teeth of the rack 51, a slide rod 54 is slidably connected to one side of the box 12, a buffer plate 55 is fixedly connected to one end of the slide rod 54 and located outside the box 12, and a rack 56 is fixedly connected to one end of the slide rod 54 and located inside the box 12, the teeth of the rack 56 mesh with the teeth of the gear 53;

[0041] When the impact force on the anti-collision plate 22 is too great, it will be pushed directly to the box 12. The direct collision between the anti-collision plate 22 and the box 12 may cause damage to the device.

[0042] When the anti-collision plate 22 is impacted, the limiting rod 23 slides to the right, thereby causing the rack 1 51 to slide to the right, which in turn causes the gear 53 to rotate on the rotating shaft 52. Because the gear 53 meshes with the rack 2 56, the gear 53 causes the rack 2 56 to move to the left. The leftward movement of the rack 2 56 causes the sliding rod 3 54 to move to the left, which in turn causes the buffer plate 55 to move to the left. When the buffer plate 55 contacts the anti-collision plate 22, it transmits the impact force generated by the collision to the anti-collision plate 22 through the buffer plate 55. By converting the impact force generated by the collision into a buffering force that interacts with the impact force, a buffering effect is achieved. This avoids the problem that when the impact force on the anti-collision plate 22 is too large, it will directly push the anti-collision plate 22 to the box 12. Direct collision between the anti-collision plate 22 and the box 12 may cause damage to the device.

[0043] As one embodiment of the present invention, such as Figures 2 to 3 As shown, a stabilizing structure 6 is provided on the limiting rod 23 and the sliding rod 54;

[0044] The stabilizing structure 6 includes a slide groove 61, which is formed on the slide rod 54. A stabilizing rod 62 is fixedly connected between the two sides of the inner wall of the box 12, and the outer wall of the stabilizing rod 62 is slidably connected to the inner wall of the slide groove 61.

[0045] During the process of sliding the slide bar 3 54 to the left, in addition to sliding on the box 12, the slide groove 1 61 also slides on the stabilizer bar 1 62. The two points form a horizontal line, which determines the sliding trajectory of the slide bar 3 54 and effectively prevents the rack 2 56 from falling off the gear 53.

[0046] The stabilizing structure 6 includes a second slide groove 63, which is formed on the limiting rod 23. A second stabilizing rod 64 is fixedly connected between the two sides of the inner wall of the box 12, and the outer wall of the second stabilizing rod 64 is slidably connected to the inner wall of the second slide groove 63.

[0047] During the process of the limit rod 23 sliding to the right, in addition to sliding on the box 12, the second slide groove 63 also slides on the second stabilizer 64. The two points form a horizontal line, which determines the sliding trajectory of the limit rod 23 and effectively prevents the rack 51 from falling off the gear 53.

[0048] Working principle: The connecting plate 1 is connected and fixed to the robot through the connecting hole 11, thereby fixing the anti-collision device to the robot. When the robot is hit by a collision, the object first contacts the anti-collision plate 22, and the robot continues to move forward. At the same time, the strong impact force will also squeeze the anti-collision plate 22. After being squeezed, the anti-collision plate 22 will compress the spring 211. The elastic force of the spring 211 will achieve a buffering effect. At the same time, the anti-collision plate 22 will push the slider 21 inward to slide. When the slider 21 slides towards the box 12, it will drive the limit rod 23 to slide, thereby driving the slider 24 to slide. When the slider 24 slides, it will slide relative to the slider 25. Thus, under the action of the inclined plane, When slider 25 is pressed down, it causes lifting rod 26 to move down, compressing spring 27 to achieve secondary buffering and prevent the spring force of spring 211 from being less than the impact force, resulting in poor buffering effect. When lifting rod 26 moves down, it causes fixed plate 28 to move down. After fixed plate 28 contacts the ground, the robot will continue to move forward under the working state of the drive system. Fixed plate 28 will continue to rise under the squeezing action, thereby lifting the robot's front wheels off the ground and making the front wheels suspended in the air. This reduces the robot's risk of damage. After a collision, the drive system will continue to work, causing the robot to continue moving forward.

[0049] When the anti-collision plate 22 is impacted, the limiting rod 23 will slide to the right. During the rightward sliding of the limiting rod 23, in addition to sliding on the box 12, the second slide groove 63 also slides on the second stabilizer rod 64. The two points form a horizontal line, which determines the sliding trajectory of the limiting rod 23, effectively preventing the rack 51 from falling off the gear 53. This causes the rack 51 to slide to the right, which in turn causes the gear 53 to rotate on the rotating shaft 52. Because the gear 53 meshes with the second rack 56, the gear 53 will cause the rack 56 to move to the left. The leftward movement of the rack 56 causes the slide rod 54 to move to the left, which in turn causes the buffer plate 55 to move to the left. During the sliding process, in addition to sliding on the box 12, the slide groove 61 also slides on the stabilizer 62. The two points form a horizontal line, which determines the sliding trajectory of the slide bar 54 and effectively prevents the rack 56 from falling off the gear 53. When the buffer plate 55 contacts the anti-collision plate 22, the impact force generated by the collision will be transmitted to the anti-collision plate 22 through the buffer plate 55. By converting the impact force generated by the collision into a buffer force that interacts with the impact force, the buffering effect is achieved. This avoids the problem that when the impact force on the anti-collision plate 22 is too large, it will be directly pushed to the box 12. The direct collision between the anti-collision plate 22 and the box 12 may cause damage to the device.

[0050] Simultaneously, when slider 25 moves downward, it will drive connecting block 31 to move downward, and connecting block 31 will drive slider 32 to move downward. When slider 32 moves downward and comes into contact with slider 4 35, under the action of the inclined plane, slider 32 will squeeze slider 4 35 to the right, and slider 4 35 will squeeze control button 34 to the right. When the robot's front wheel is in a suspended state, slider 4 35 will squeeze control button 34 to the rightmost end, thereby activating alarm 33. Alarm 33 will sound an alarm and transmit the sound through speaker hole 36, thereby notifying staff to come and check the situation in time. This reduces the risk that staff will not be able to detect the robot collision in time, which would otherwise lead to the robot being damaged in a collision and not being able to find and repair the problem in time.

[0051] When both sides are impacted, the protective plate 41 rotates inward toward the anti-collision plate 22 after the impact. During this rotation, the sliding rod 42 retracts inward toward the fixed rod 44, and at the same time, it compresses the spring 45. After being compressed, the spring 45 compresses the limiting block 43 under the elastic action of the spring 45, thereby pushing the sliding rod 42 out of the fixed rod 44. This causes the protective plate 41 to rotate outward toward the anti-collision plate 22, thereby blocking and pushing away the impacting object. This reduces the risk of the anti-collision device being damaged when it lacks protective structures on both sides and cannot protect the robot when it is impacted on both sides.

[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A collision avoidance device for a substation inspection robot, comprising a connecting plate (1), wherein a connecting hole (11) is provided on the connecting plate (1), and a box body (12) is fixedly connected to one outer wall of the connecting plate (1), characterized in that: The box body (12) is provided with an anti-collision structure (2); The anti-collision structure (2) includes a slide rod (21), the outer wall of which is slidably connected to the inner wall of one side of the box (12). An anti-collision plate (22) is fixedly connected to one end of the slide rod (21). A spring (211) is fixedly connected to the outer wall of one side of the box (12) and outside the slide rod (21). A limit rod (23) is fixedly connected to one end of the slide rod (21) and inside the box (12). The limit rod (23) is located away from the slide rod (21). A slider 1 (24) is fixedly connected to the end of the box (12), a lifting rod (26) is slidably connected to the bottom of the box (12), a slider 2 (25) is fixedly connected to the top of the lifting rod (26), a spring 2 (27) is fixedly connected between the bottom outer wall of the slider 2 (25) and the bottom of the inner wall of the box (12) and outside the lifting rod (26), a fixing plate (28) is fixedly connected to the bottom end of the lifting rod (26) and below the box (12), and the inclined surface of the slider 1 (24) and the inclined surface of the slider 2 (25) are slidably connected; The limiting rod (23) is provided with a buffer structure (5), the buffer structure (5) includes a rack (51), the top outer wall of the rack (51) is fixedly connected to the bottom outer wall of the limiting rod (23), a rotating shaft (52) is fixedly connected between the inner walls of the two sides of the box (12), a gear (53) is rotatably connected to the outer wall of the rotating shaft (52), the teeth of the gear (53) mesh with the teeth of the rack (51), a slide rod (54) is slidably connected to one side of the box (12), a buffer plate (55) is fixedly connected to one end of the slide rod (54) and located outside the box (12), a rack (56) is fixedly connected to one end of the slide rod (54) and located inside the box (12), the teeth of the rack (56) mesh with the teeth of the gear (53).

2. The anti-collision device for the substation inspection robot according to claim 1, characterized in that, The inner wall of the box (12) is provided with an alarm structure (3).

3. The anti-collision device for the substation inspection robot according to claim 2, characterized in that, The alarm structure (3) includes a connecting block (31), one side of the outer wall of the connecting block (31) is fixedly connected to one side of the outer wall of the slider two (25), one side of the outer wall of the connecting block (31) is fixedly connected to the slider three (32), the bottom of the inner wall of the box (12) is fixedly connected to the alarm (33), one side of the outer wall of the alarm (33) is fixedly connected to the control button (34), one side of the outer wall of the control button (34) is fixedly connected to the slider four (35), and one side of the outer wall of the box (12) and the right side of the alarm (33) has a speaker hole (36).

4. The anti-collision device for the substation inspection robot according to claim 1, characterized in that, Both sides of the anti-collision plate (22) are provided with two-sided protective structures (4).

5. The anti-collision device for the substation inspection robot according to claim 4, characterized in that, The protective structures (4) on both sides include a protective plate (41), which is rotatably installed on both sides of the anti-collision plate (22). A sliding rod (42) is fixedly connected to one side of the protective plate (41). A limit block (43) is fixedly connected to one end of the sliding rod (42). A fixing rod (44) is slidably connected to the outer wall of the limit block (43). One end of the fixing rod (44) is fixedly connected to the outer wall of one side of the anti-collision plate (22). A spring (45) is fixedly connected to the outer wall of one side of the limit block (43) and the outer wall of one side of the anti-collision plate (22) and located inside the fixing rod (44).

6. The anti-collision device for the substation inspection robot according to claim 1, characterized in that, The limiting rod (23) and the sliding rod three (54) are provided with a stabilizing structure (6).

7. The anti-collision device for the substation inspection robot according to claim 6, characterized in that, The stabilizing structure (6) includes a sliding groove (61), which is opened on a sliding rod (54). A stabilizing rod (62) is fixedly connected between the two sides of the inner wall of the box (12), and the outer wall of the stabilizing rod (62) is slidably connected to the inner wall of the sliding groove (61).

8. The anti-collision device for the substation inspection robot according to claim 6, characterized in that, The stabilizing structure (6) includes a second sliding groove (63), which is opened on the limiting rod (23). A second stabilizing rod (64) is fixedly connected between the two sides of the inner wall of the box (12), and the outer wall of the second stabilizing rod (64) is slidably connected to the inner wall of the second sliding groove (63).

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